...
When the robot returns after placement on higher layers, you could get the issue where the robot is hitting the corner box.
...
Fix:
To solve this issue, use rf_release_stratagystrategy=6.
This will add Add vertical exit after box placement waypoint and remove target position waypoint, allowing the robot to move higher before starting to move down towards the pickup position again. You can read more on how the release strategy works here: Release Strategy.