Why is my vacuum doing this?

My vacuum is doing these weird circles instead of straight lines like it used to. I’ve cleaned the sensors, and checked the wheels and there’s nothing tangled. I did a reset and it’s still doing it.

My first map ran is like this too. Never go to the blue area. Even I started second time for whole room, it still leaves the whole living room, went to the rooms it set up earlier, the en went back to charge.

maybe check your wheels (left?) to see if something is jammed/wrapped around it. there doesn't seem to be any sensing, indication, or notification of when motors/rollers/ducts are jammed/clogged. it'll just carry on not cleaning like everything is fine.