I am now using Dynamixel2Arduino V.0.8.0, UNO R4 Library 1.3.2 and I am using SyncWriteRead on 4 DXLs. And I am glad to report that everything is running OK on R4 Minima and Wifi and on Arduino IDE 1.18.19 and 2.3.4
Between upgrading on the Renesas and the D2A libraries, the R4s are working good for me now. Thank you very much for the update work. 