I FINALLY FIXED IT.
Necro/Posting here because I’m going to cry with glee. The issue was the self-righting code, it basically tried to solve 3D rotation using only 2 Axes. Basically self-inflicted gimbal lock when there was no reason to have any.
New code that works for reference! (Runs faster too probably, no more rotation matrices or rotators, all vectors).
-Redacted- Some Content now NDA