We've had our s9+ for a little over a month now and it has definitely lived up to our expectations. It has successfully mapped our two story home accurately, made near perfect room demarcations. The most impressive performance though was a surprise. This is a new build home. I HAND vacuumed all our new carpets a day before we purchased HALO (our s9). I trained our HALO in the vacuum mode, and was totally surprised at the dirt and fibers it was able to pick up, AFTER I'd hand vacuumed with a Hoover cyclone vac. Very impressed. The only issue I have found was while trying to use the iRobot app. It does NOT work with a VPN (Virtual Private Network via Lookout) on our Samsung Galaxy S10 5G smartphones. (This has been confirmed with iRobot tech support.) Not a big problem since I prefer using my iPad to control HALO anyway. Bottom line .... we're very happy with HALO.