I've just recently received the RLC-823A and have been using it for 1 day/night. I also am experiencing people walking underneath the camera and not auto tracking, and having the camera (more specifically at night or in shaded conditions) focus on a parked car but thinking there is some motion.
I have another thing that seems odd to me, which is the motion detection notices a vehicle coming at the camera from the top of the screen, and follows it for a few degrees as it comes closer to the camera and then as it's almost off the bottom of the screen stops tracking it.

Is this beta testing still in progress?
Current Firmware Version: v3.1.0.989_22051911_v1.0.0.30