I agree with Fred that you need to increase your ATC_RAT_PIT_ILMI to 0.08. Now that you made the changes I requested in pitch, your actual pitch attitude is following the desired quite nicely. The roll looks pretty good but could use the additional authority provided by the ILMI.
This is your desired pitch attitude compared to your actual pitch attitude.
Like I said, the roll follows pretty well until the end when you started flying sideways and you can see a bias develops. Having the larger ILMI will prevent this.
As far as it feeling slower, that is dictated by the ATC_ACCEL_P_MAX and ATC_ACCEL_R_MAX as well as the ATC_INPUT_TC and the rate_max parameters. These set up the target attitudes and rates that the controller then uses the PID’s to match the actual to the target. Now that I feel better about the actual matching the target. try loiter and see how it behaves.