i215 traction issues

So I set up the I215 did a mapping of my backyard and let it start going. My side yard in front are fairly thick grass and relatively level although I have probably a 25% slope on the front yard. But the backyard is very shaded with large mature trees and some relatively flat tree roots. But even on the flat parts if it reaches an area of bare grass it loses traction and starts to beep and has all kinds of problems. I haven’t even gotten it to do more than 25% of the backyard. Should I consider switching to the 210 for AWD? i’m concerned that the trade-off is the signal issue. The mower is going to live in the backyard and have to go to a side yard and a front yard and lots of trees and a house in between. Will I have signal issues with the 210? Or is my situation one where I need to think of moving to something in the H series?