IMHO there is strong evidence for both scenarios. It’s clear that the compass error was caused by Yaw/magYaw separation although it’s not clear what caused the Yaw/magYaw separation. It’s also clear that there was a motor obstruction since the left back was commanded higher, drew more current and the speed remained more or less constant.
So the question is are the two scenarios related. It’s certainly possible that there were two unrelated incidents. Or, is there a root cause for the two and I’m just not able to determine what that is. I think I’m gonna go for the latter.