Thank you, @rishabsingh3003, for a nice explanation. I have tried Dijkstra’s. Dijkstra’s seems to detect from way back, even at the originating WP, that there is an obstacle ahead and heads around it. I did not spend much time on it, but will look at it more. @Yuri_Rage posted about it here Yuri’s 4.1.0-beta Update (GPS yaw - now beta3) - ArduRover / Rover 4.1 - ArduPilot Discourse as well.
I will look more in detail and post additional information.
Early in my experimentation with BendyRuler, I changed the OA_BR_CONT_RATIO and OA_BR_CONT_ANGLE separately to understand their effect and I saw no change, if I remember, but that was before I ran into the problem with the back and forth hunting behavior. I will certainly experiment with OA_BR_CONT_RATIO as you suggest.