I would inspect the filter basket and make sure that it is both sitting correctly inside the bot and that it is assembled properly with no gaps. In these robots, the water pump pulls water into the robot through the filter basket and then out through one of the three jet ports. Large debris should NOT ever be making it to the impeller. With a blockage like that, I would say that there is something wrong with the filter basket. In all my 5 years of owning a robot, I never got a clogged impeller and I would check it routinely with every basket cleaning. The filter basket can develop gaps where the various panels snap into place and even in the frame of the basket itself. It was not uncommon for me to completely disassembly the filter basket (panels and frame) and clean everything throughly. When putting it back together again, I would always ensure that the panels and frames had tight fits and there were no gaps.
The top lid of the robot should seal with the filter basket. There are four springs on the bottom of the robot interior well that the filter sits on. If those springs are compressed and no longer sitting up, then the basket may not be making close contact with the lid. This too can allow debris to bypass the basket and hit the impeller.