Congratulations for your work @ChristianH.
Now kite systems towing a boat, or for kitesurfing (as shown on your video) can more easily fly in loops. The same for FlygenKite .
But for reeling (yo-yo) systems, one or two tethers (perhaps the same two lines?) in alternating reel-in and reel-out (unwinding, winding) phases, must take over to go towards the winch(es) driving the generator(s): perhaps you have solved the specific issue for yo-yo mode? If yes low radius loop control in yo-yo mode will be also able to materialize in a simpler way.