Is anyone else struggling with a wandering, inconsistent Vis Nav 360?

I put this in “Questions” as well hoping for suggestions.
I am really struggling to like by Vis Vav 360, and I LOVE all other Dyson’s I’ve purchased. Issues:

1. My Dyson Vis Nav 360 does not clean like the demo video in a nice straight line. It wanders aimlessly and misses spots. It may get the spot the next day, it may not. It certainly doesn’t track walls in a straight line nor go all the way up to a straight surface and clean until it bumps the end of that “road.” It seems to approach walls and items at an angle and stops short of them then turns.
2. Sometimes it completely skips rooms. Sometimes it doesn’t clean at all that day but with no intervention does clean the nest day.
3. Sometimes it wanders around not vacuuming at all for a bit. Just drives around the house like a spy! LOL!
4. The clean takes twice as long or more as my old shark and typically cannot clean the house on one charge. My house isn’t big and part is inaccessible to this robot vac due to a step down. There is probably about 1300 sf accessible without accounting for furniture, fixtures, and cabinetry. Cleaning durations range from 2:20 - 6:40 hours. My shark took 1.25 hours to clean the house consistently. The only variations to that were when it got stuck.
5. The “vision” is really sub par. Certainly performs well under expectation compared to the Shark lidar. It seems to need time to figure out an obstacle and approaches a few times but often can’t pass it if the space is narrow. Like navigating by my desk chair wheels to get under the desk in a narrow space but still large enough for it to pass.
6. Also, it cannot go over a thicker rug where other robot vacs can. It pushes its edge up, 2-3 tries, sometimes more, and then gives up and moves on.Unless the rug is very low pile with an edge it can ramp up on or it is very low, it can’t get on top of the rug.
7. What it DOES do well is suction. One pass after my shark and it picked up a lot of dirt. Particularly from rugs at doors.
8. One other bonus...it has never gotten stuck under the bed. ;)

It’s like having a teenager begrudgingly checking the chore box off but performing incompletely, inconsistently, and in poor quality. Not what I expect from a robot vac and definitely not what I have come to expect from Dyson. [cry face emoji]

Has anyone found solutions to these issues?