I believe your request already exists. There are 2 options to start this process depending on what your issue is:
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Simultaneously press and hold the power and home buttons for 3-5 seconds. You’ll hear the vacuum announce that it’s reestablishing WiFi connection.
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Simply re-add your vacuum as a new device giving it the same name as before. Do NOT delete your vacuum before doing this and your map, all settings and history will be retained. I’ve used this method several times over the past year and it works well.
Edit: Forgot to add… both methods are performed while vacuum is docked. I perform spamoni4’s method below undocked (pulled away from the charging base).