DR4B help

So my team has built a DR4B and we are trying to improve it more does anyone have any tip/trick to helping them stay more stable and lift more smoothly?

Rubber bands on both sides of each arm.
Cross bracing.
PI loop on each arm to keep them level.
make sure everything is symmetric, reduce friction.
More cross bracing.

What I’ve noticed is that if you place the motors and gearing in the arm towers, it’s much more prone to tilting and also isn’t as efficient as to of if you were to put the gearing and motors on the middle vertical bar linking the two 4 bars together.