Wired behavior of skid steer boat in Loiter

I have a small boat with skid steer configuration. The motors are brushless and I am using dshot600 and BLHeli-S on the ESC’s.

The boat is holding position in loiter nicely and suddenly C1 motor goes wild resulting in the boat losing its position and rotating. When I switch to manual everything is working again. Could this be related to firmware 4.1.0.dev that I am using.
If someone can have a look at the bin would be very much appreciated.