@WillyanArruda,
I never turn my R/C transmitter on with it set to the AUTO mode.
I always turn my R/C transmitter on with it set to the MANUAL mode so that I can verify that both the throttle and steering are functional.
I never start my rover at the home waypoint and use the MANUAL mode to move it to the home waypoint and then select the AUTO mode when I am sure that I have sufficient satellites and an HDOP less than 2 for a successful run.
Using the ArduRover firmware in ways that have not been tested means that you are on your own.
Regards,
TCIII AVD