The tractor runs fine in one direction, but when coming back, it stays 10-20 cm off-line. What causes this?

This is the classic „”asymmetry”” error, which can stem from two things: The Wheel Angle Sensor (WAS) is not perfectly zeroed. Stand straight with the tractor and zero the sensor in the software (0 degrees). The tilt sensor (IMU / Roll) is entered incorrectly. If the tractor tilts to the right, a positive tilt value should appear on the screen. If not, you must flip the IMU axis in the software.