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On a top level:
The position covariance will always blow up when you have no position information being inputted. Neither of your inputs is being processed with XYZ information.
Your IMU is double counting RPY and their derivatives. See the RL configuration recommendations. Fuse only RPY if you have them. And you’re fusing accelerations. Remove the accelerations unless you have a very, very nice IMU that is well calibrated. That is a likely candidate source of your issues.
Show me an example IMU and Radar message. Make sure both have proper covariance values for the fused elements and that they’re realistic (your IMU one sounds fine, but you didn’t specify the radar).
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