Trying to get my jet boat to follow waypoint closer?

Randy Mackay was a huge help tuning this boat last year. I’m finally picking up the project again. While we’ve got it tuned very well. It isn’t following waypoint as good as I’d like. It currently hits a waypoint pretty accurate but at speed. Tracks past the waypoint and makes a pretty large turn towards the next point. Now partly I know this is my wp settings I have wp radius and wp overshoot set to zero. My eventual goal is to get this to run a tight river at speed. So hitting pretty close to center waypoint is important. But to get it to stop overshooting is there another setting I need to adjust? Or do I just need to find a balance with wp radius and overshoot?