Based on some of my experiences, you can swap an MR03 board into an 02-AWD-F1 but swapping an 02-AWD-F1 board into an MR03 has always failed for me.
The servo motor is the biggest issue as every time I've swapped on a 03 servo motor onto an ASF 02-AWD-F1 board I get a really strange servo "bounce" effect in the steering....it reacts very strangely almost over jittery and doesn't so much center as it speed wobbles back and forth to center eventually.
I never examined if there was an ICS setting to adjust I just gave up on the swap.
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