Hi Amanda, Thank you for sharing your detailed feedback about the Shark Matrix Self-Emptying Robot Vacuum. We’re happy to hear it’s cleaning well, but we’re sorry to learn about the challenges with its navigation, the noise level, and its compatibility with your furniture. We understand how important these features are, especially when transitioning from a model you loved. Regarding the gridding and navigation, you might want to check if the Precision Home Mapping feature is fully optimized, as it allows the vacuum to cover all areas systematically. If the clicking noise persists or the self-cleaning function seems unusually loud, our Customer Service team can assist with troubleshooting. Please don’t hesitate to reach out to us at 1-888-228-5531. We’d love to help ensure you’re getting the best possible experience from your Shark vacuum. Kind regards, Shark Clean