CTD represents an advancement in the drilling industry, offering improved mobility, reduced environmental impact, and enhanced operational flexibility compared to conventional rotary drilling systems. Its ability to enable underbalanced drilling, where the wellbore pressure is kept lower than the formation pressure, has been instrumental in preventing formation damage and improving reservoir productivity. However, despite these advantages, drilling dynamics in coiled tubing operations remain inherently complex, with challenges arising from the interplay of operational parameters, downhole shock, and ROP.