Vibrations look reasonable, no problem there.
Pitch and Roll attitude control is very good. Yaw is the odd one out - probably a yaw Autotune would help.
There could be some some benefit to setting up the Harmonic Notch Filter too, these should work OK for a starting point on Cube Orange
Refresh parameters after setting the enable params in order to see the rest.
I dont see any motors being commanded to minimum while in flight, all motors are very consistent.
You are switching between AltHold and Loiter a lot, and Simple Mode could be confusing the issue too. Probably avoid simple mode until behaviour is correct. No need for POSHOLD mode either, Loiter does a better job and is more configurable. Just be ready to select Stabilise if something ever goes wrong.
Do another test flight to gather data for the Harmonic Notch Filter (use the params above) and just do some hovering in AltHold and gentle movements including yaw.
Let’s see that .bin log file.
You could try setting these too, they should be safe and might help to fix the issues (which I couldnt really see in the log)