I just updated my SITL and see that I have 4.1.0 Dev available. So I decided to test the new value 3 (manual mode). I tested guided and auto.
At end of auto, rover change mode to manual as expected (mode changed in my app, on-screen joystick appear). The same is not the case when reaching the guided target. Did I misunderstand this, should it not also apply to guided mode at mission item reached?