[Greg McKaskle]

I'm jumping into this one late, but my advice is to decide which output is correct and only update with the correct value. Updating with correct and incorrect values almost randomly will not improve by using shift registers vs tunnels. Changing the rates only statistically changes the amount of time that a given motor value is correct. During Auto, do you want the periodic values at all? If not, use a global Boolean to skip all periodic updates that conflict. In tele, flip the Boolean to use the periodic values. If that isn't quite the right logic for which to use, determine what that logic is first, then look for a clean way to implement it to avoid the inconsistent writes all together.

Greg McKaskle