When recommending any parameter changes I have carefully considered these changes and they should suit your copter.
If you do have a Li Ion battery and not LiPo then set these:
BATT_ARM_VOLT,38.30
BATT_CRT_VOLT,36.00
BATT_LOW_VOLT,37.20
MOT_BAT_VOLT_MAX,49.20
MOT_BAT_VOLT_MIN,33.60
and definitely set these regardless of which battery you have:
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2 or 3
Adjust these:
ATC_THR_MIX_MAN,0.5
BRD_BOOT_DELAY,3000
FENCE_ENABLE,1
GPS_GNSS_MODE,65
INS_ACCEL_FILTER,10
INS_HNTCH_FREQ,48
MOT_SPIN_MIN,0.12
that fence change will prevent you from arming in ANY mode until there is a good 3D fix and Home can be set. It seems frustrating and feels like it takes a long time at first but you get used to it. If you always just used Loiter the effect is the same, so you are not any worse off - just safer. This takes the human error out of selecting a flight mode and arming without a good home position.
There is quite some difference between clockwise and counter-clockwise motor outputs, indicating one or more are slightly twisted on their arms and not perfectly aligned with the rest. Fix that before going any further.
Shorten and tidy the battery wires if they are still the same as in that video. Long = bad.
For tuning, start by reducing these D terms
ATC_RAT_PIT_D,0.003
ATC_RAT_RLL_D,0.003
and increasing logging
LOG_BITMASK,180222
Now do another test flight with AltHold and some gentle stick movements, and maybe some Loiter too if it’s going OK. Please do all the things above before jumping straight to another test flight.