Potential Breakthrough!
Just purchased a new sensor MPU9250 for the board which I think will solve the problems of rough terrain and such because it has an additional built-in compass which would give me 3 new dimensions to work with. I have also FINALLY purchased an Hdmi Mini adapter in order to program like a human being and not over ssh every time. However, this means that I'll need to install full Raspbian Version and not the Light one, which means that I'll need to move and reconfigure the system from scratch. And while this thought is terrifying, I have realized that going over these "high activation energies" (chemists in the audience will appreciate) is almost always worth it because they free up possibilities, and make it easier for good habits to form. Cheers