[fargus111111111]

It certainly appears that you have received a multitude of helpful answers to your problem. I would say that it is important that you understand why a PID performs how it does as far as why it overshoots or undershoots, and why, if you nudge it off with out slipping the wheels, it should correct itself. Understanding this will help you understand why it is very helpful to do as many others have mentioned, that is to use a motion profile in your code. The PID with out profiling is detecting a large error at the start that error is drawn out through the turn and so, to tune it for a large turn, the error correction needs to be much different from a small turn. A motion profile breaks down a move into many much smaller movements and a trapezoid shape to this movement runs much smoother because the PID does not build up the error like it would otherwise. I hope you are successful in running PID, it can greatly improve your performance, especially in autonomous.