One thing that is missing from this simulation is that (at least some) ant species walk straight back to their nest once they found some food. They do this (as far as we know) by accumulating each step they take into what is called the "home vector", effectively integrating the whole path they took. That way they always know which way is "back to the nest". There is a vast amount of papers on the topic. Some (personal) highlights:
If you put the ants on stilts they will follow the same home vector, but because each step on stilts is effectively longer they will overshoot the target: https://www.researchgate.net/figure/Fig4-Odometry-by-stride-...
If the ant is placed close to the nest after gathering food, it will still follow its home vector ... away from the nest: https://royalsocietypublishing.org/doi/abs/10.1098/rspb.2004...
Crazy little buggers these ants.