I actually had the same stuttering on Windows 11 and it drove me nuts. I re-paired, updated drivers, turned off hands free telephony, disabled audio enhancements, and unchecked Bluetooth power saving, but it still cut out every few minutes. What finally fixed it was bypassing the Windows Bluetooth stack by using the USB dongle mode on SW4 40ms which gives a dedicated link with about 40 ms latency and the dropouts stopped.
Delete the map and remap in ideal conditions starting from a dock just outside the bedroom with doors managed, lights on for camera units, runners taped down, and no harsh sun on dark thresholds. Check the laser, bumper, caster, wheels, and side brush then supervise a run to see if it misreads the doorway or drifts and only replace parts after a reset and failed remap with likely culprits being cliff sensors, a weak drive wheel, a stuck laser, or a tired battery.
