Thanks ShaneShane for the feedback on my rear derailleur issue. I will have a closer look at my chain length and brake pads/springs.
I also found another potentially big issue, I just emailed BD about. The rear brake is leaking fluid under the shifter hood, from the side of the master cylinder, not the bleed port screw. A few drops come out when I squeeze the brake lever. The front side brake may be a little moist here, but not leaking like this. I assume this may be a SRAM manufacturing defect?