Resume Auto mission after Manual Detour - easily?

Hi - when doing large multihundred waypoint missions for the first time, there is always an obstacle or two discovered. Putting the rover into manual, manouvering around it, resetting the waypoint number and continuing is the process i use. Is there an easier method ?

The problem is when going from Auto to Manual to Auto resets the waypoint number.
Made more difficult when the rover is located out of wifi coverage, down a bank - so ~100m gap between eyes on, and where the mission planner works…

Is there a better way ?? - AduRover 4.4-10 ish.
Do i need to script something ?? - thanks in advance.