I swear, you are the most optimistic person I ever heard of. Which is great, but it doesn’t change the facts. You didn’t simplify your system: you have duct tape and bailing wire all over the place.
You recently had to write a core piston just to make sure that when a mode change happened it really happened. And that was about a week ago! 
If things are working for you now, that’s great, and I’m happy for you, but it’s not because you simplified things. And it’s definitely not because things “just work.” It’s because you’re a creative, skilled, stubborn guy who puts in as many redundancies as it takes to get through the next day.
All traits that I admire, but let’s not mislead anybody about stability.
Just sayin’…
