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SOLVED: Was an ugly mixup in the microcontrollers PID/drivers/serialinterface. For anybody else encountering such an issue I would suggest, measure the wheelspeeds/steerangles exact (not by ros but by external means). The right/left wheels were not doing what they should have. Because of friction, weight distribution and steeringangle, the base seemingly did what it should (although miserably bad, but I thought it was because of imperfect tuning). But in reality it was pure coincidence, at twist-Z the coincidence ended, that was the issue. Once more a case of changing the perspective, test setup, and tools was the solution.
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