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Glad you found it so quick.
If SAM can't "see", it can't do the collision avoidance 'magic'.
If you continue to have issues:
1. Upgrade to my version of SAM (https://steamproxy.net/sharedfiles/filedetails/?id=2892105352) - this won't likely change anything but you will have more features and I can support that version better.
2. Get on my Discord (link in my Workshop page) and we can discuss at length.
We are using several mods on a server and S.A.M. works just fine. Of course, I use my updated version (https://steamproxy.net/sharedfiles/filedetails/?id=2892105352) , though nothing is that drastically different about waypoints.
As for "dropping to manual", etc. SAM will START, twisting toward the direction and such, but if it decides the ship is not balanced enough to finish, it will just STOP. See https://youtu.be/6o-AR44UEI8