Hi @rmackay9
Today I tested out RC4 beta. I used the beta link that you suggested.
It was very stable.
As for tuning adventures. I still have issues. Rather than clog up this thread.
I’ve posted my problems here
https://discuss.ardupilot.org/t/need-help-with-tuning-rover/23192/4
The log file in that post.
Thank you
Esa