Had the same problem. Turnoff carpet recognition. That solves the problem.

What sucks is that you can't tell the vacuum anymore to do the vacuuming several (3) times.

Thats really crappy.

I bought the Xiaomi S20+ about 3 months ago and it has carpet detection, which works very well indeed.

good question, i have that problem too... i think you can only wait for software updates, or the robot just can't do it...