@abhinav_singh_thakur The mag interference seems much better, although vibrations are still quite high and it would be interesting to see it how it behaves in flight. Moreover you have a peak in the actuator control FFT between 30 and 60 Hz so I would reduce the IMU_GYRO_CUTOFF and the IMU_ACEL_CUTOFF to 20 Hz. This adds a bit of delay so it could be possible that you also need to lower the P gains for pitchrate and rollrate.
