Y axis vibrations are high. That is a physical issue you will need to fix before flying any more. Search on this forum.
There is oscillations on roll axis and oscillations in motor outputs. These will be fixed by reducing vibrations and improved tuning.
Use Stabilise and AltHold first, then progress to Loiter only when tuning is better.
I’m unsure why your rate P and I values are so low.
Did you try these, like I suggested?
ATC_RAT_PIT_D,0.005
ATC_RAT_PIT_I,0.11
ATC_RAT_PIT_P,0.11
ATC_RAT_RLL_D,0.005
ATC_RAT_RLL_I,0.11
ATC_RAT_RLL_P,0.11
You also didnt set ARMING_CHECK,1 or accept all of the suggested settings from the Initial Parameters calc. With 34 inch props you need every safety feature available, and you wont be able to keep track of the battery voltage and decide when to land more reliably than the flight controller itself - that is one of it’s key tasks.
Set these right away so you dont forget:
ARMING_CHECK,1
ATC_INPUT_TC,0.20
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
FENCE_ENABLE,1
Adjust these at least until we get better data in more flight
INS_ACCEL_FILTER,10
INS_HNTCH_FREQ,20
INS_HNTCH_REF,0.13
INS_HNTCH_HMNCS,5
MOT_THST_HOVER,0.13
PSC_ACCZ_I,0.4
PSC_ACCZ_P,0.2
Keep in mind when I list a whole bunch of parameters that I’ve considered the whole copter and as many things that I can think of. You should not just set some of these and not others unless you’ve got a good reason.