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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