Botvac Connected - Bad path finding, strange spot cleaning

[NiceToBeNice]

Botvac Connected behaves strangely - cleans just a tiny part of a room, reports as completed, and then is not able to return to the base station. Here is a video of a robot hopelessly trying to find a base:



When I select spot cleaning, it does not clean in straight lines but runs in circles.

I have run Lidar diagnostics using NeatoControl - every few seconds it lists more obstacles than there actually are:

Can someone confirm if this is could be a lidar issue or something else (main board)? I have checked and cleaned the lidar belt - it seems to be firm.