Not entirely sure if I’m having the same issue or not but even as a beta tester, I’ve used both the official firmware and the beta updates yet I continue to have similar mapping issues. For the most part it maps accurately, though the vacuum does occasionally decide to go in circles rather than follow the most logical path.
The issue I’ve been having that relates to yours is the map turning issue. None of my rooms ever get vacuumed in a straightforward left to right or up down pattern, it’s always on an odd diagonal path.
One clue I noticed was the fact that the vacuum seems to follow a north-south or east-west pattern, and I think it may relate to the fact that my house position on the road does not perfectly line up to those patterns… That is to say my house and the road are on a diagonal Northeast to Southwest lineup. I’m wondering if this is specifically the vacuum using North Southeast West coordinates or if it’s a problem in the firmware. It would be nice to have the straight lines that so many people show in their maps but I’ve never had it, and I’ve remapped and updated and remapped dozens of times, as well as changing the location of the base station and remapping in other locations in the house, with the same result.