Wanted to write a follow-up after having some time to play with the updates for anyone else using this feature. Awesome team to have responded with a fix so quickly. The generated path is now a constant radius and not having that line to the center is an added bonus.
A couple notes. With how it is now you need to use pure pursuit as in Stanley the program gets lost when it crosses over the true north line from the pivot. It will not disengage but either tries to turn around or just continues at the previous heading until it picks up a path again. In pure pursuit it works as expected. Also you turn isn’t selectable in either Stanley or pure pursuit but I haven’t had as much time to dig into that.