Hey @whtcubie @garlinplus,
23% hover throttle, that looks like either a racer or a wrongly designed copter;
I usually have my copters between 35% (octocopters for payload) and 65% (IRIS with extra stuff) hover throttle. These have stable behaviour.
Keep in mind that the further from 50% the hover throttle is, the harder it is to control the copter because each step, the copter reacts more.
I would try to reduce the MAX_PWM to 50% (limits the speed to go up) and reduce a lot the MPC_xxx parameters (multicopter position control) following: https://docs.px4.io/en/config_mc/pid_tuning_guide_multicopter.html
Is the attitude control correct?
Can you do a flight in Stabilized/Manual mode and grab a log? That will tell you if you need to tune the MC_xxx parameters (multicopter attitude control).