Thanks for the fast response @KevinFFF
I will gather logs now and share them but to answer your questions, the OTA works, at least on this robot, as it was flashed from a known working laptop (see this issue that is still ongoing for us). The Pinmux is not being updated after the OTA and I believe this hangs together with the issue with the v0.0.1 version issue that something is causing the bootchain, or at least parts of it, to not get updated via OTA.
Cheers