Hi,
In general, it is not recommended to use RTI with globalization.
Typical globalization strategies compare different iterates in terms of cost and constraint violation.
However, in RTI, the problem typically always changes (at least due to a change in the initial state constraint) and the algorithm only performs a SQP single iteration.
If you naively combine RTI and globalization, typically your initial state constraint is not satisfied, if the step length is not 1.
Additionally, globalization techniques ensure that the infeasibility decreases over the iterations. But since the problem formulation typicaly changes between subsequent iterations, this cannot be guarenteed.
Regarding the timings: The globalization timings are fixed for RTI in acados PR 1376..
Secondly, if there is some unexpected difference in behavior such as different iterations after the globalization refactoring, we could look into it if you provide an example.
Please double check if this issue is related to your other post, Globalization not being parametrised correctly through legacy functions when using new MATLAB interface - #2 by FreyJo
Best,
Jonathan