you have a motor alignment issue..... take a ruler and make it swing around and hit the motor. I start with making both rear motors flat and level then i tune the fronts to the rears. If all that is dead on you have a motor bearing issue, but i'm guessing the first is more inline with your problem description
I constantly change whats on it between 6 motors right now, 8 esc's, keep trying to find that sweet spot. i'll boot it up, but usually i'm something like 140 on the basic, 100 on the atti and i put them on a dial, basic to tune manual mode then i switch to the atti gain to dial in the rest, mainly how aggressive i want atti to self level me, too high and they don't like coming back to flat after extended periods in fff.....