Starling 2 Max (C29): Visual follow-me for people and vehicles using voxl-nano-tracker (pre-purchase)

[阿峰]

Hardware: Not purchased yet (pre-purchase question). Planned configuration:
Starling 2 Max GPS-denied Development Drone, with Battery Pack and Controller
Camera Config: Dual 4K & Dual Tracking & TOF (C29)
Radio Config: Microhard pMDDL2450 and ELRS 915 MHz
Software version: N/A (pre-purchase). Planning to use the latest SDK (1.6.3 or later, for voxl-nano-tracker).
Configuration / services: N/A (pre-purchase). Planned services: voxl-tflite-server, voxl-nano-tracker, voxl-vision-hub (offboard mode).
What I am trying to do:
Develop autonomous visual tracking so the drone can actively follow people and vehicles (vision-based, not GPS-based follow-me). My questions:
voxl-nano-tracker (AOI Yaw Tracking) currently controls yaw to keep the target centered. Does it, or any other example, support translational following (holding distance and altitude to a moving target)? I noticed parameters such as forward_vel and z_vel in the config. Are they used, or reserved for future features?
In topic 1873 (2023), a ready-made follow-me solution was not available. Has anything changed since nano-tracker was released? Is there any reference code or recommended architecture for a full visual follow-me on Starling 2 Max?
Is nano-tracker fully supported on the C29 configuration, and which camera is recommended as its input?
What actually happens: N/A (not tested yet). However, topic 4560 reports that on Starling 2, offboard_mode: follow_tag makes the drone yaw right and fly away from the tag instead of toward it. Has this been fixed in the current SDK? I'd like to use this example as a starting point for my follow controller.
Steps to reproduce: N/A
Logs / pictures: N/A
Thanks in advance