jyoke follow this link and complete the thread if you have advices that are not there already!
As for the no vision, not sure about that one. I prefer it on. Avoided me while I was on my John Deer (did not see it coming but it went around me… Almost destroyed 7K$ worth of robot! It would have lost against my tractor…) And It gets much closer to obstacles with vision on and no no-go zones… I really use NGZ only around my lake, my Garage and shed (so it doesn’t enter it when the door is open!), my few gardens (they have no borders and I would be affraid Yarbo confounds the yummy lettuce/basil/minth etc as long grass), the septic fossa covers (they are slightly elevated, sometimes Yarbo sees them, sometimes not, but when it doesn’t because I mow low, the blades hit the concrete…), the fire pit (obviously!) ans some holes… The NGZ are for temporary events (RV, car, teens that throw in a party and left a crap load of stuff on the ground… etc).
In short, I prefer to keep vision, goes closer to obstacles, goes around unpredicted obstacles. Yes it sees ghost, but on the next mow it will likely go over it… I only disable it in an area of my lawn where it is large, open, no obstacle and I want it to go as fast as possible…