Massey Ferguson 7S Canbus issues

I purchased a steer ready 7S.210 earlier this year. Using a Tony can pcb with v6.3.1.
The tractor will steer but keeps randomly disconnecting the auto steer. Sometimes after 5 seconds, sometimes after 5 minutes. I have done some CAN logging, and have been working with @Raycorp on this problem.

Has anyone experiencing similar issues with the new Massey models?

Has anyone got a 5/6/7S running with no issues over CAN? Getting rather frustrating after months of trying and not being able to sort this disconnecting issue.
The tractor came with a Trimble receiver but I really didn’t want to go down that road after having great success with other AOG projects!