BearBu is a better person to answer the software improvement question. I don't want to step on his toes, so hopefully he chimes in. I do know that with calibration you can make the stitching better. This was my third calibration and it has improved each time. The thing I probably will never be able to get completely fixed is the change in camera perspective. The nose camera is significantly lower on my car than my sideview and rear cameras. When I drive past something the camera is looking from 13" off the ground (nose camera) then up to 36" (side camera) then down to 31"(hatch camera). The curb just looks way different. I still see the line where it starts and that is helpful, but not perfect. This seems to be worse for the nose vs the rear of the car. I think a model X or a refresh S will have better perspective since the mounting location of the nose camera will likely be higher. Maybe I'll try to move mine up. Also I believe there are settings for the amount of overlap of each camera, but I have not messed with it yet.
Not sure if that answered what you were looking for. Hopefully it did.