Weird turnings some times in Auto

So here i am with a Rover now that got Bendy ruler and Object avoidance. running some WP’s and got good speed and can reverse from objects if it’s to close, So i’m really happy about that!

But for some reason the Rover do not quite make it to the WP’s and makes weird turnings.
It got Explicit turning with 1 ESC and 2 servos.

Can anyone maybe take a look at my Setup and give me a helping hand in the right direction?
post both logs, and parameters from last driving (75.8 KB)

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