You can probably get rid of any boot delay greater than zero now.
I can also confirm that there is likely a bug in the CAN auto configure routine that does indeed affect GPS_AUTOCONFIG=2 and reversion to GPS_TYPE=9 from GPS_TYPE=22 or 23.
Bench tested on my own autopilot just now.
GitHub issue raised:
AP_GPS: DroneCAN GPS_AUTOCONFIG does not revert from moving baseline to standard · Issue #24272 · ArduPilot/ardupilot (github.com)