Using lpe instead of ekf2

We are getting very frustrated with EKF2 - we are constantly getting inconsistent sensors, ekf internal check failures and having to rerun calibrations every time we arrive at the airfield or unpack our aircraft. We didn’t have this issue with LPE. Is anyone else having this experience?

Has the robustness of EKF2 been improved since 1.7.3? Are there any critical issues using LPE with a vtol?

Is switching back to LPE as simple as changing SYS_MC_EST_GROUP to 1?

edit - I meant LPE, not iNAV.

As far as I know: yes it has improved a lot!