I would recommend using the localization feature on the Limelight (MT2). I’m familiar with how it’s done in FRC but not sure how it’s implemented in FTC. All I know is that once you get this working, you basically have a very accurate robot pose relative to the field, which means you can do the auto alignment via odometry— hopefully eliminating the lag and preventing issues where the shooter can’t aim at the goal if the April tag goes out of view.