[aeastet]

First I would say that your teleop is running slower than auto. There are many ways to fix this but we need more information:

What programming language?
Can you provide your code?
Do you do anything different in Auto than in teleop?

If you get these answers I would guess that someone can help.

My guess is not the PID tuning. If it works in Auto then it should be fine as long as you are running the same loop rate. If one loop is running faster than the other you will get a different result. Everything in PID is based on time.

Tim