I got a pedal commander on my 19 5.3l RST. It’s a night and day difference. I really like it! No codes...you can switch modes while driving but just make sure you are NOT switching modes when you are pressing the gas pedal. I advise not to use the Bluetooth since there’s a lot of people having issues with it. I’ve never used it. If you get a pedal commander, you really do have to try the different settings to see what you like though. One annoyance is the constant downshifting. For example, if you’re in Sport+ / +4 and at speed already...a slight push of the throttle even say a 1/4inch it’ll downshift and want to take off. The downshifting gets a bit irritating going uphill cause you’re constantly adjusting speed depending on traffic. Add a loud exhaust on top of that it gets worse. However, sport+ / +4 from a stop is incredible LOL. You gotta find a happy medium between acceleration response and the downshift nuisance. I have mine on Sport+ / +1 and it doesn’t downshift as much but I am mindful of the throttle. I could just set it on City and not have the downshift annoyance, but I prefer the acceleration more so it stays on the Sport setting. I can recommend it. Every mode besides ECO is an improvement from stock. It’s definitely a better mod than the intake I just installed which costs more than the pedal commander. If you don’t care about warranty, then just go straight to a tuner.