Error rate far too high

I've been using this library for years and thought it would be a simple job to include IR control in this robot project. 

The rate of successful decodes is far lower than it used to be - currently pretty unreliable. See my post with code and video here:
https://www.instructables.com/MAKER-PI-RP2040-Robot-With-IR-Control/

I hope you can make it more reliable.