I've been working on the Vertical issue, so I have not really gotten to work on the position hold and overall horizontal stability. In viewing the Masten Video Several things are clear,
1)Their motor movement is a lot smaller than mine, I think I probably have the gross actuator gain turned up too far.
2)Its real clear that they switch modes on the descent, IE the vehicle it goes into tight position hold mode, the engine then starts moving a lot more.
In any case its cool to watch the videos.