Tuning advise required

I’ve bought Holybro kit (frame,motor,esc,props) and Pixhawk 4.
After few days building and some tuning I have flying quad and I assume flight not bad.
Currently I have 2 problems:

  1. slow oscillations (I’ve tried reduce I-value but seems oscillations still remain)
  2. altitude drifting from 0.1 to 0.3 meters during hovering. This also easy to see in pos mode when quadcopter braking and that drift from 0.5 to 1.5 meters.

I think props a not well tuned and too soft so this can cause oscillations but not sured about this.
Also any PID tuning hints I would really appreciate.

Flight log, videos and PX4 mounting below: