Mark, after I read the "weird behavior" thread I'm almost certainly sure your approach to the erratic slewing problem is correct ! It's the Homefind.
Sorry, I wasn't clear when I said "close to the horizon". I meant more like 30-35°. Somehow low Alt values seem to trigger the problem.
I will definitly spend more effort on the absolut perfect balance !
But the scope with everything on it is below 23Kg. My "D" value ist really low to avoid oscillations, P and I are moderate and on comparable levels.