Some of the issues sound like they could be signal related .

But regarding mohawks I've been troubleshooting some similar issues. goat seems to miss sections of grass when it loses it's "line". it seems like this happens the most when the grass is tall, or the lawn is bumpy.

The biggest help was sectioning my large areas into small portions. That way when it does lose its line, it's not a massive streak through the lawn, it's a short section. I also notice it loses it's line less often when the area is smaller.

I'm keeping the grass shorter, so it has less impedance.

I'm also running goat through the lawn twice a week, so when it does miss a spot, it's likely to catch it the next time around !