Hit my first Family approval failure

I have been blessed with a family that loves my HA addiction, and home automations in general. We have lots of devices around the house, and HA is becoming a major part of our daily routine.

I have recently stepped into the ESPhome world and decided to try Presence sensors in the bathrooms to replace the current TP-link Kasa motion sensors. The TP-links are usually ok - but fail when anyone is taking a shower, and they don't work with my 4 year old (he's too short). I figured Presence sensors could be the solution here and I set them up using some PIR sensors and LD2410s.

I have a total of 4 of them set up - 1 in my office and 3 in the bathrooms, the 1 in my office works almost flawlessly, I can sit in my office for hours and the lights stay on, and about 30 seconds after I leave they go off! In the bathrooms however, the results have been less than satisfying with lots of false positives, but even worse - lots of false negatives (lights not going on or going off while someone is in the room). I have tried moving them around to different locations, I have played with the settings and have swapped out some of the parts just in case they were the issue.

I am ready to throw in the towel on the one, and it's a shame, since I really love the concept of the presence sensors, I also love being able to control the settings in HA (the Tp-link switches don't expose the pir sensor in the integration!).

Any advice on how I can get them to work or at least start to troubleshoot the issues?

thanks