There is a new FW being tested at this time. Those of us in the beta Test Group, which you can join, have installed the latest FW to see how the mapping and problems experienced are behaving now.
you can join the beta group, if you want, by going to: Become a Beta Tester – Wyze
you can see what the beta FW will provide by going here: Wyze Robot Vacuum Firmware Beta Testing 3/22/2021
And here is a good forum about the WYze Vacuum and the updated FW. This was provided by the Wyze Team: About Wyze Robot Vacuum Firmware 1.6.113