Hi Michael,
There were already some users reporting a similar issue (hovering at the corners). After investigating few logs files we concluded that that the issue is related to the DJI SDK and that the users need to wait for some time, e.g. 1 minute, before the mission will continue.
In the Drone Freeze in the air community post, we also mentioned that it is recommended to check if the drone’s sensors are calibrated properly. More specifically, some users reported that the issue was resolved after performing the compass calibration.
Best,