Is it possible to make make braking when in POSHOLD mode more aggressive? There is an old GitHub issue on this topic that suggests the existing tuning values (PHLD_BRAKE_ANGLE and PHLD_BRAKE_RATE) actually impact behavior other than braking.
With the default settings, even at only moderate speeds, my 650 quad is very timid about braking and will continue moving for quite some distance when no longer requesting pitch/yaw.