Don’t apply too much pressure when you sand with the Bosch ROS. Rely on its weight to do most of the work. Your job is to guide the machine to where you want it to sand.
You needn’t worry about sanding direction. The Bosch ROS20VSC is direction-agnostic. It doesn’t leave marks, irrespective of which direction you sand your surface in. This is not the case with a belt sander, orbital sander or sanding disc, all of which leave scratch marks if you don’t sand with the grain.
If your surface is in a bad state, start with a rough grit sanding disc. I use a 40 grit on some jobs. It might be too heavy for the average sanding job, so perhaps start with 80 grit. Work your way up from there. (Remember, the higher the grit number, the smoother the sanding paper.) I use 40, 60, 80, 120, 150, 220, 300, and 400-grit sanding paper. At the 400 mark, the wood starts to reach a “smooth-as-butter” feel. If you wish, work it up to 600, perhaps beyond.
If your Bosch sander runs around on the job, drop the speed, or ramp it up, until you’re in control.