@Wayne-TP not tried whole home because we have alot of dogs so i generally select each room to do so that the anti tangle brush clean is done after each room. i did 2 rooms using the same methid as...

@Wayne-TP Vac & Mop was selected with 1 pass. it went round once vacuuming and mopping following the grain and then did another pass the other way round creating a grid on the map.

I seem to be having an issue with the Vac and Mop feature. i click on the room and select vac and mop. 1 pass. The RV50 does 1 pass and then for some reason does a second pass the other way round...