MOT_PWM_TYPE,8 PWMRange PWMRange and PWMAngle are PWM special/rare cases for ESCs. Your motor graph does not look normal to me.
This UA is not tuned yet, you should not fly in smart_RTL. I would recommend you follow this guide. Have you flown Alt-hold or Loiter before? if after tuning, and find UA twitch in Loiter, you can try these Loiter values.
Your UA CubeOrangPlus is experiencing high vibration.
AHRS_GPS_USE,2, more parameters need to set is it?
