To be exact, my test set up merged PC+SBC into a single RPi5 16 GB running on Trixie OS (see enclosed picture). And then I installed that new TB3 branch using DOCKER and ROS2 JAZZY. So my TB3 is completely run within a DOCKER container.
And I did not have any issue with the Gyro during bring-up:
So I meant that this DOCKER TB3 set up was using much simpler communication connections (all serial comm. are within the same RPi5) than the current TB3 JAZZY setup shown on the ROBOTIS e-manual. Does your high end PC act as the PC component for your TB3 system? Or does the NucBox act as the PC component for your TB3 system? Your RPi4 has the OpenCR right? Is the RPi4 on Ubuntu 24.04 LTS Server? And you used Ethernet or WiFi to wrap around all 3 components of your robot? I only used Ethernet to test mine so far.
Recently ROBOTIS started a DISCORD site where you can report turtlebot3 issues also and it seemed that you would get quicker and direct responses from the ROBOTIS software engineers. Have you joined that DISCORD site yet?