AutoTune Fail just with YAW

Hi guys, hope you are all doing great!

We have finished to build our new drone, so start to do the autotune as always, roll and pitch were made great and very fast (very fast from my experience…), but when I try to do the yaw, I got an error that says: Autotune: Failed to level, pls tune manualy.

To do the autotune, I do one axe at the time, changing the autotune_axes, the last one was the yaw.

This is not my first time doing autotune, but first time I got this error. Normaly when I see the drone doing yaw autotune, the yaw moves like 10° side to sideI think, but today I saw almost 30° side to side, so that was very strange for me, after that Mission planner told me the problem.

Here is my setup
-T-motor 5008 340kv
-Orange Cube last FW 4.22
-TMotor ESC AIR 40A 6S
-5.5Kg at the moment of the AutoTune
-DragonLink RC
-18" props
-6S 30000mah Li Lion Tmotor battery

Here is my telemetry
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Is some one can help me to understand what tts going on will be great.