@TheHypnooToad
Sorry to hear your robot vacuum is being a bit mischievous.
I once had a similar experience with my RV30, but found out it was due to the initial mapping―I didn't allow it to map as thoroughly as I should've. I ended up remapping the home and allowed the vacuum plenty of berth to fully scan as much as possible. This alone made a significant difference for navigation.
Another helpful step in my case was unlocking the map and doing a room cleaning for the room(s) where the vacuum seemed to need a bit more thorough scanning, or when furniture was moved (as in my case). I then re-locked the map and noticed the vacuum was much happier now that it had a "clearer" memory of its surroundings in rooms that had been difficult to map initially.
You could try the unlocking + room cleaning approach first if you're not in a position to perform a full remap just yet.