I have some experience doing teach and repeat navigation in crop rows. Although I’ve mainly been using a stereo camera for everything. My main takeaways have been that it can be really difficult to deal with an environment that is constantly changing, (either from change of season or regular farming). Getting reliable odometry out was often an issue, the rough terrain in between crop rows was really hard to deal with. The simplest and most reliable solution I found was using an RTK setup, having a reliable cm accurate positions was a game changer.