Dual GPS configuration issue with here3+

Hi,

We have been using CubeOrange on a mini carrier board with a dual here3+ GPS configuration. Dual GPS configuration was working perfectly fine with here3. But when we shifted to here3+, I am getting the following issues

1. Both GPS units are detected but both the external compass sensors are not being detected on boot. However, if I tap at the top of the GPS units or shake the drone, they are getting detected, but not able to proceed to compass calibration with this setup.
Here is a link for demonstration of the above : Link

I am getting the following error when I attempt compass calibration with the detected compass units post tapping/shaking.
image
This was not the case with here3 GPS units though. As soon as booting process is complete, both external compass units were detected with here3 GPS units.

2. When GPS_TYPE2 is set to UAVCAN, even though the satellite count is greater than 10 on GPS2, “GPS2 not healthy” error is being shown
image

I replaced Flight Controller with a brand new one and I replaced all the wiring of GPS units and CAN splitters. Still the issue persists and leads me to think that these GPS units are malfunctioning. I replaced the GPS units also with brand new two here3+ units. Drone performed well for first two fights, but the above problem resurfaced for the third flight even with new here3+ units. I checked the input voltage to the GPS units and certainly there are no short circuits happening on the drone.

Question 1 : Is there any difference between the configuration of here3 GPS units vs here3+ GPS units?
Question 2 : Why would GPS compass sensors not be detected on the boot?
Question 3 : Does here3+ support dual GPS configuration?

Note : Mini carrier board has a CAN2 port. Using this port and a CAN/I2C splitter, I plugged in two GPS units. Firmware version we have been using was 4.3.0 Arducopter.

Please support me debug the issue

@Tom have you resolved this issue using dual Here3+ on mini carrier board?