I appreciate the hack you share about behavior as I am. Short on time to make observations of such and will put them to use when I get my new core and have to map again. Mine has had rear swing problems also when it was working. It backed into the edge of a no go zone that I traced the perimeter of. The 350lb fire pit hit the emergency stop but since it had detected a collision as well it would only allow me to control backwards (into the fire pit, lol). Had to roll the pit out of the way so it could clear the error. Maybe allow for more than the back movement after a rear collision that occurs so close to an emergency stop.
Glad this forum integrated to the app because plenty of early adopters are assets to the company and other users.