Copter wont always disarm after land phase of autonomous mission

Title says it all, I fly an autonomous mission with takeoff and land commands included, and sometimes the quad will disarm after the mission perfectly fine, other times the motors keep spinning indefinitely. I cant even switch back to loiter of alt hold to manually disarm - I have to go all the way back to stabilize. Any idea what could be the cause?

I think only during the RTL (Return to Launch) the copter disarms, in other cases, it expects for the next waypoint that it can follow. Even I am struggling with this. Any idea on how to solve?

I’ve seen it disarm automatically in RTL, LAND and in AUTO with a land waypoint. My larger quad did it super reliably, until one day it stopped doing it reliably. I actually started a new thread because of the age of this one.

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