Tracker 4.2.0beta1 has been tagged for beta testing. It should be available for download in the following hours from the firmware server (ArduPilot firmware : /AntennaTracker/beta), and perhaps via your GCS.
These are the release notes for 4.2.0-beta1. Due to the long interval between releases these are somewhat incomplete.
AntennaTracker 4.2.0 beta1 25-May-2022 Changes from 1.1.0 1) Many new supported boards 2) New sensor support 3) PID improvements 4) Filtering improvements 5) Integrate AP_Stats library 6) Scripting support 7) Logging improvements 8) Improvements to GCS communications 9) Option to scan before vehicle found 10) Innumerable system-level improvements; see Copter and Plane 4.2 release notes
Peter Hall and I will be happy to review any and all feedback on this beta - any you can supply is greatly appreciated!