Hey,
I see that you’re getting EKF2 Failures at the end of your flight. See “logged messages” at the very bottom after message 16. Those are most likely caused by high vibrations. Try to reduce them or change the EKF_MULTI_IMU Parameter to 1. This will decrease your level of safety for the drone though.
I wrote a post about this topic: Solved: PX4 unstable flight in Position Mode after updating to V12.3
I hope this helps