As far as I know the issue that requires a reset is still there. I ran across a fork of the realsense2-camera package that actually detected this and did the soft reset automatically, but it's still annoying that you don't get frames for a moment. Apparently this is a firmware issue that is on their to-do list for some time already.
Some colleagues and me have mainly been using the D415 camera for a while now. Mainly the slow delivery of the D435 made us start with the D415 instead, but we've now received a D435 as well. I haven't tried the D435 yet, so I can't really say much about how they compare.
I've been playing around with a D415 in a mobile robot where I use it together with [pointcloud_to_laserscan](
https://github.com/ipa320/pointcloud_to_laserscan) to generate laser scans for amcl and some other ideas for localisation. I was positively surprised by the accuracy of the depth image, where sometimes even up to 15 meters it gives reasonable measurements (less than 30 cm error). However I have only played around, no extensive checks and no tests in poor lighting conditions etc.
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