I would try the cio, it controls all the inputs and outputs for the positioning. I've had strange things happen before. To be clear in my understanding: the car runs fine on auto but if you kill the power when its not at the terminal it will hunt for a position by cycling directions?

Also you say It does not run on inspect, on the crip there are relays SKD1-5, which is basically your safety circuit. When you give start command are these all lighting up?