I saw an APAS 5.0 review and I saw that when the drone is less than four meters from the ground the speed goes much slower. It's like a sphere the obstacle sensing but You have set the radius too much(like 4 meters) so the speed is too slow and also it needs too much space between obstacles to pass through them so it goes over the obstacles most of the time And same with the advanced return to home. if You make the radius let's say one meter or one and a half, then the APAS 5,0 will be much better and much faster. Same the advanced RTH
DC Rainmaker explains and tests it.
Here is his review
It has nothing to do with the comparison. only how APAS 5.0 works right now. Check the video from 03.13 to 07.55 which is this part.
Also, check the part of the RTH from 14.17 to 17.33