Should I use the 4.1.0 release?

Hello All, I have Quad with Cube black and Herelink radio. I want to try if 360 lidar will work with last Beta 4.1.0. After calibration when starting motors in Loiter mode I still receive message “Throttle is not in neutral”. With FW 4.0.7 such problem does not appear. Could you please somebody give me some advice? Also I will appreciate advice why with firmware 4.0.7 drone is “hopping” when I use 360 lidar? I tester Lightware and also Terarange Evo Tower. Both have the same behavior. In open space drone is not flying but only “hopping” - stops after several meters and fly again several meters and stops…
Thank you for your help.