Offset problem

[MohmdwG4mer]

We are having a problem with the offsets or the angles of the modules.We set up the code and changed the constants to suit our robot, and then we tried moving the robot at first everything runs smoothly, the angles are close to perfect and the directions are correct . After a bit of time the modules have a slight change in their angle which builds up slowly overtime , but the bigger problem happens when we reupload the code, the angles become WAY off.
The same thing happened with us last year, and the solution was to make a delay for one sec in the swerve subsystem and then reset the modules to absolute, and that didn't work either.
We checked the constants; trackwidth,type of module,offsets ...etc. But nothing works.
Btw we are using MK4i L2 falcon modules.
Does anyone experience the same thing?
And how can we solve this?

[ebot1234]

Did you superglue the cancoder magnets to the shaft of the steering gear? We had an issue where our offsets would wander due to the magnet not being in sync with the shaft itself.