+1 for Valetudo! I’ve installed it once via OTA and twice by FEL. The OTA was obviously a breeze, but FEL wasn’t that bad. I just watched videos on YouTube for the disassembly and took my time doing each step. I love the UI and the fact that I can SSH into them just for the sheer coolness of it! I think one great thing about it is that it doesn’t affect the software that the robot uses for all its tasks and functions (e.g. vacuuming, mopping, sensors), just that it replaced the cloud and runs it on device.