Hi,
for resetting you can do store_iterate() right after the creation and then do load_iterate().
Those routines load (and store) the initial guess (iterate) of the SQP method.
You can try to use the build keyword argument of the constructor of OCP solver.
Not sure if this works, since I haven’t tried it myself and still need to check this PR: Fix build=false when creating AcadosOcpSolver by gijskoning · Pull Request #780 · acados/acados · GitHub
Cheers!