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That looks pretty much like what I would expect from sonar sensors. There's a reason why they are cheap and why LIDARs are generally used when one wants to have (more) accurate data.
It clearly looks like the sensors don't like it when their emitted sound hits walls at oblique angles (as this means it is reflected away from the sensor, thus giving no return). Observe that the two sensors to the sides work reliably in your video and that these are the only ones that consistently emit at a right angle against the walls, thus retrieving strong returns. The material the environment is made of of course also plays a significant role in overall performance.