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Mine is the same age as yours and I also have that back and forth thing going on. It still cleans the pool, but spends an inordinate amount of time doing the Texas two-step. As I recall, around the time I purchased it, some folks were having this issue and the manuf said there was a software...

About halfway thru this past season, mine (less than 12mo old) began moving back and forth about a foot at a time. It would do that about 5-6 times, then go on its way. Not sure what to make of it.

I have the Doheny discovery. Can anyone point me to a compatible caddy?

Joined the Discovery club today. I’ve run it one time and it appears more is required. Overall, happy with the purchase though. Still $670-ish at Doheny’s.