so anyway this has been going on for like three weeks now and im at my wits end. the quad just feels... soft? like its not crispy at all on rolls and flips. when i do a hard snap roll it kind of lags behind and then overshoots a little at the end. ive bumped P gains up on roll and pitch, tried increasing D a bit, nothing really fixes it. it also propwashes pretty bad coming out of dives which i know is a D and D_min thing but every time i mess with that stuff i just make it worse somehow.

running 4in1 esc with blheli_32, rpm filtering is on, i think dynamic idle is set right but honestly im not 100% sure i set it up correctly. might be a filtering issue? i dont really know where to start at this point

the propwash and mushy feeling together usually points to filtering being too aggressive rather than PIDs being wrong. if you're on stock or near-stock filter settings with rpm filtering enabled you might actually have too much latency in the signal chain. try backing off the lowpass filters a bit and see if it sharpens up before you touch PIDs again. also what version of betaflight are you on because the defaults changed a lot between 4.2 and 4.3 and some of the D_min stuff behaves differently.

also check your master multiplier isnt low for some reason, seen people accidentally set it to like 0.7 and then spend days wondering why their tune feels dead

what props are you running tho? cause ive had that exact mushy snap feeling and it turned out i was just using worn out props that had tiny cracks near the hub. swapped to fresh props and it was like a completely different quad. probably not your problem but worth ruling out before you go down the pid rabbit hole for another three weeks lol