Yaw due to compass offsets?

In loiter I dont have “toilet bowling” but the quad tends to yaw and if I let it for a while, it even gets into a semi spin and I usually switch to stabilize before it comes crashing down.

Before I add a 3rd external compass on a pole, could somebody tell me whether these offsets are ok or not?

These look normal. Have you tried 3.4rc1 ?