Could you add a toggle button in waypoint navigation screen to indicate whether the trailer is or is not attached? And if trailer is attached, then limit the max turning angle to something like 70 degrees (need testing to determine angle or maybe even user customizable value).
Right now with trailer Yarbo might want to make 180 degree turn when starting to move and sometimes during the path it makes 90 degree turns and in those cases it’s crashing into the trailer and gets stuck.