The last version 1.84 include a new 6 seconds state before start and heading is normally OK now (only if you don't use compass (IMU only))
Stop when manual reverse is now smooth.
Speed management on slope is also changed.
Change from ByLane to random is now generate on the NEXTLANE state (Don't know if it's better ,but mower change more often).
Do not forget to Deactivate SCREEN,RFID and MQTT if you don't use them