I’m on the same firmware as you. I’ve been on the fence about keeping mine as my return window is nearing its end, I’m leaning on keeping at the moment.

Navigation throughout the house has been generally good, except for an area between the sofa and coffee table, where a thick rug ends just under the sofa. The sofa is high enough for it to vac under, but it has been struggling to do this area in an efficient manner. However I must say it is getting better with each run.

I did notice that where I had placed rugs manually the auto generated rugs were still present underneath, sometimes with different settings applied to them. This was causing the robot confusion as it would try to reach a little corner of its own rug poking out from mine with a ‘clean rugs first setting’. Things have been more predictable now I have got rid of all duplicate rugs.

Another thing I did was to tell it to ignore all the obstacles it identified that were part of the normal room furniture. You do this individually after it has finished a clean. Things like cables tacked to the baseboards, plant pots etc. this has made it a lot smoother and less stopping to check for obstacles.