.. but I think there is still something odd about the handling of RTL. In Rover (unlike copter) if there is a return-to-launch command in the mission, it actually switches to the RTL mode which pauses the mission. If you then switch back to AUTO it will resume the mission but then complete it and go into HOLD mode. Then if you once again switch to AUTO it will restart the mission.
So there is definitely some weirdness still in there but we will fix it eventually. My guess/hope is that we will make RTL be implemented from within AUTO mode - like it is for Copter.