Our senior pilot Autotune a quad 23" propeller 1.45m wheelbase 14kg drone at a 30mx30mx6m cage space. Now Autotune come with lock position when twitching. The scary part is it yaw and a junior pilot may not able to figure it out the drone orientation.
Importantly, the drone must have low noise and low vibration before Autotune, reasonably good and sufficient propulsion system. After tune if you still getting some twitch or oscillation, can refer to this post.