L40 Ultra Mapping Issues

Hello, i have had an L40 Ultra for a little over a year. When we first got the thing it performed beautifully. We have 6 cats and 3 dogs so having a dependable robot vac and mop to handle the day to day was incredible.

I have kept up with the routine maintenance, filters, sensors, brushes, etc. But in the last few months i have noticed large clumps of hair being left around the house (~2000 sqft).

When looking at the path the robot took, the white lines (that i believe indicate active cleaning paths) appear to be sporadic and not continuous. Additionally, i can hear the robot constantly going in and out of the lower volume/suction travel mode when moving along an unobstructed path. It just outright avoids cleaning unobstructed areas in the house for seemingly no reason

I have tried doing a deep clean of the robot and reseting the map but to no avail.

Any advice on settings to change or fixes to try would be greatly appreciated. Just trying to keep the house clean