Pathplanner robot hot reload and telemetry connection issues

I’m having a weird issue I can’t figure out how to even troubleshoot.

Every now and then Pathplanner just stops being able to connect to the robot for telemetry. I’m doing most of the work testing in the simulator, rather than on a real robot, but the circumstances are the same.

For a while I can’t connect, and then eventually it does.

I can’t find any logging, or UI settings, or anything to give me more verbosity on how to troubleshoot when it’s happening. Any pointers out there?