Issues with multi-component integration on cube orange plus

Hello all, I am not quite sure if this is the appropriate place for this question. Please advise if not. I am trying to connect three distance sensors to CubeOrangePlus for 3 directional obstacle avoidance. 1 RADAR to GPS2 port, 2 Sonars connected to the I2C2 port via an I2C hub. Additionally, there is GPS on CAN1, and a external telemetry module on Telem2 to stream data to QGC while in flight, and finally an RC connection via Telem1. With all the sensors connected, I am getting a “ghost” stream from the RADAR. However, if I disconnect GPS on CAN, all the distance readers are working fine (atleast reporting appropriate values on QGC). Did anyone have this issue in the past? Could this be potentially an issue with Cube’s processing capacity? I looked for the result of “top” and the processor usage values were under 55%. Any advise on how I can fix this?

I am running a custom build of PX4 based on the code from the main branch.