As requested, here is a log file showing my yaw-related issue. For background: I can fairly reliably reproduce a scenario where I start the rover and yaw is mostly accurate. I drive around in Manual (or Steering) mode and make some turns. Within a minute or so, I get an EKF-related “yaw realigned” message from the AP, and the yaw is adjusted to something other than the direction the vehicle is pointed. This may happen multiple times, with the yaw being adjusted to a different value each time. I can also reproduce this by running a mission with yaw set correctly. The mission runs perfectly with no wobble at first, until yaw is adjusted.
I’ve seen this on 3.2-rc3 and on -rc4 (which I’m currently running). The compass is a newer Here mounted on the nose of the vehicle.