On multiple occasions my Yarbo has stoped because it has gotten stuck and twisted on the border, and once I saw him simply reverse a bit to far, and then he stops and needs my assistance. and what i have done to resolve the situation is simply to tell him to drive forward for som inches and then pressed start. (I think its when he turns on the borde it happens most often case he usually is facing towards the area)

My suggestion would be to be able to have an option where, on an area basis, i can configure if my Yarbo can try to move back to the area (within resonable limits) perhaps a multi option choice with 6 - 12 - 24 inches or so.