We've kept separate source and destination positions for our UR5e sleeve transfer. Still getting caught by a tray change after a stop. Old pocket number comes back looking perfectly respectable, with nothing saying whether that tray is even there.
Nothing beyond the operator selecting its name. And the same name is used for every tray of that type. I can see why storing more pocket numbers hasn't helped us.
We walked it through with our shift lead. A changed source now leaves its position unconfirmed, and a possibly completed transfer leaves both sides for reconciliation. Integrator is turning that into the recovery design; our cover operator still needs to try the handover.