I don't mind using the blade guard, although I do agree with RobotLady that the guard clogs up when the grass is wet. Unfortunately, there's no moisture sensor to tell the robot not to go out when the grass is wet - only when it's actually raining. We're in PA and most of the time I find the grass is wet and the guard gets packed. This just means more frequent cleanings.
... and the biggest problem I have with the blade guard is removing it for cleaning, as I have yet to find a perfectly-sized key to fit the A2-70 bolts that secure it. Also, I recently had my blade motor replaced under warranty. The original motor was held in place by those four bolts that go through the retaining ring and the guard, but also by 2 additional short bolts. The new motor did not allow me to use the 2 short bolts, since it had no threaded holes to receive these. Actually, the holes are there, but they are filled by longer case bolts that take up all the space. So with the new motor, removing the four bolts will completely free the motor. Thus, if you turn the robot on its back, with the blade face up, and then remove the blade and the four guard bolts, the motor will fall free. This is more of an annoyance.