[X40 ultra] Robot spin in circles in front of the dock

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When going to charge the robot takes many attempts to back up and will stop, pull away, line back up, spin in circles, and "dance around " instead of just backing up into the base. Eventually it finds its way but its kind of absurd. Is there a sensor I need to clean or something?

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RI476792

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[X40 ultra] Robot spin in circles in front of the dock

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