At this stage, not that I’m aware of.
I joined the team in mid May so am missing a chunk of relevant context, but working from the current state of things we’re definitely planning to improve the developer experience and relevant documentation. One of the major goals of my StaROV project is finding and fixing missing/outdated information that would be required/helpful for design and development using our components and software 
Sub-4.1 is a bit of a weird one - it’s currently used to support beta DVL functionality, but we’re expecting to skip straight to 4.2 for the next stable release, which I believe will be taken directly from master (this issue is perhaps relevant).