I have also been seeing this same behavior on HAL 9000. I’ mentioned it on this post over here: Is this the "dreaded" map drift at work here? - #37 by balmerjd
I’ve also mentioned it in the ticket I have in for my DC issue from that same thread.
I have in fact seen this happen twice now. On one occasion it also coincided with a sudden but temporary loss of connection to the rover. Weirdly the camera feeds stayed up, but the rover was uncontrollable.