Dynamic movement on the ground is more likely to be caused by some external influence than my misalignment. Either power in the aircraft, or a super-hero's high-powered secret lair underneath the hangar. By odd heading dynamics, I meant that you may see heading errors , mostly in the air, that are not 1:1 with the compass mis-alignment.
As for the AP performance, have you tried the improvements in 5.3? See the latest install manual and release notes to learn about the alternate roll mode that has helped a bunch of people so far.