A while back I was telling @jimrh that my prior-to-GoPiGo3-robots all came with built-in wall following, and that it was taking quite a bit of work to give my GoPiGo3 robot Carl wall following behavior. A reminder:
WaLI (Wall follower Looking For Intelligence)
Today I tried out the built in right and left wall following of my TurtleBot4 lite robot: