@Jessica Chan yeah, 30-35km on a clear LOS path is solid — you're well within the drone-to-drone envelope so that tracks.
The reconnect behavior you're describing is something a few people have bumped into. The short version is that the default BLE connection parameters are tuned conservatively, so when the link drops at marginal range, the reconnect backoff can feel sluggish — the module isn't always being aggressive enough about re-advertising or re-scanning after a timeout.
The firmware repo is open source (github.com/RFOXiA/MultiNav-Pro-Long-Range-BLE-Module-Firmware-STM32WB07) so it's worth pulling that and looking at the connection interval and supervision timeout settings — those are the two knobs that tend to matter most for how fast recovery happens after a drop. If you want to share what reconnect latency you're seeing (rough seconds from drop to restore), that'd help narrow down whether it's a parameter tuning issue or something else going on at that range.
