Rover-3.2.0-rc4 is now available for beta testing. It should appear in the Mission Planner (and perhaps other GCSs as well) within a few hours.
Full release notes are here and also copied below:
1) Steering controller supports feed-forward (reduces wobble)
2) WP_SPEED, RTL_SPEED parameters allow speed independent of CRUISE_SPEED
3) Dataflash logging improvements for steering and throttle
4) Remove auto-trim at startup
5) GPS reports healthy even without 3d lock
The big change is the 1st one which resolves a wobble found by Kelly Shrock on the ArduRover-r1 (video). TBH, it was quite a large omission in the steering controller to not support "feed forward" so we suspect this will improve vehicle steering control quite a lot.
I've updated the "Tuning Steering Rate" wiki page with new advice that the ATC_STR_RAT_FF is the most important parameter to tune to get good steering control (previously it stated ATC_STR_RAT_P was the most important).
Also I'm hoping/expecting the mission planner's "Basic Tuning" page will be updated soon (issue here) to allow updating the parameter but until then you can just set the parameter directly using the "Full Parameter List" or "Full Parameter Tree" pages.
Thanks again in advance for any testing you can do. I really expect that this is our last release candidate before going live.