This seems to be reproducible also in external simulator (External simulator using a game engine (Godot)) when tilting the field. It seems that when roll is negative the tractor “drops” off the line and tries to nudge back now and then, but never getting much closer than 20 cm of the line. In another direction (when roll is positive) it slowly gets closer to the line (never reaching it, but this could probably be tuned (with integral?)). No such problem with Pure Pursuit.
Video:
https://youtu.be/QGKUAbobAvg?si=oivEvlRwiz-bkvff
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