The autotune number works in any version AFAIK. It’ll say it’s out of range, but it works fine.
Increased trate means that the filter is updating 10x faster than it was from my understanding.
@andyp1per I had a really strange thing happen today where all four motors cut, and the ESC stopped sending telem. I doubt its filter related, but I’ve never had anything like it happen before, and it was after increasing the trate. Here’s the post with more info.