Is your door count right? Encoder I mean. Tighten all hardware on all arms/linkages. I had a tac 20 once that would take a learn then go haywire. Worked on it for hours before fed up I tightened hardware for the heck of it. Found a couple ever so slightly not tight bolts on the connecting like allowing the connecting link halves to slide a but, but bolts looked tight, felt tight by finger. This movement was throwing off the encoder count. Just an idea