Ghosting bots is from an error in the way the simulation approximates forces.
See, in the real world all forces are executed instantaneously. In the bots' world, they are only calculated every cycle.
Which means for really high forces (like that seen in high drag environments) the bots end up oscillating back and forth in place.
This is a problem, but it's not just a simple fix. I'm looking into a few ways to fudge this to stop infinite oscillations, but it may be a while till I get around to that.
Turns out error.sim was disabled.
So I'll be uploading a tweaked 2.4 later today. It'll contain a few bug fixes, etc.
I'll take a look at your setttings.