I have recently completed the setup of the Yarbo where I was able to use the Xbox looking controller to control the Yarbo for a few minutes.

After stopping the Yarbo, I have since been able to control the Yarbo from that remote after following the same instructions to control the Yarbo initially.

Does the Yarbo rover require the RTK antenna to be in place in order to control the Yarbo by remote control?  I wouldn't think so since the RTK antenna is for use when the Rover is autonomous, but I'm not certain