Hi McCleaney,Thank you for sharing your experience with the Shark Matrix Self-Emptying Robot Vacuum. We understand that having to pre-clean before running the vacuum and dealing with noise levels can be frustrating.This model is designed to navigate efficiently, but obstacles or excess debris can sometimes cause it to get stuck. Ensuring clear pathways and regularly cleaning the brush roll and sensors can help improve performance. The self-emptying feature does produce some noise, but it’s designed for quick debris disposal to maintain consistent suction.If you’d like assistance with optimizing its performance, feel free to reach out to us at 1-888-228-5531. We’d be happy to help.Kind regards,Shark Clean