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?

It only apples to auto mode, guided does not run missions.

Guided is commands from the GCS/companion, the idea being that he GCS/companion can then change to mode if it wants to once the destination is reached.

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Thanks for the clarification. A misunderstanding from my side then.