Is it possible to correct the bounce back when the radio stick suddenly stops in the YAW axis?
Below is a recording and PID tuning:
(ZDRONA - Google Drive)
I would guess that tuning Yaw D would help - ArduCopter Rekon 5" Build Video 5 - Tuning and Flying - YouTube
Autotune sometimes gives a low ATC_ACCEL_Y_MAX and it wont keep up with your Yaw input, overshoots, and gives that effect you see.
Looks like you have 9000, make it 15000 and retest.