I would need a lot of information to help you with tuning. I know that if your MR flies really well you would not have overshoot on WP.
Are you using Quatos or PID firmware?
Can I see a photo of the MR?
A parameter list would really help.
You can setup your MR so it's very stable but it may not do well in a mission or in APH. You should be able to give full joystick to the right or left while in APH and then let the joystick center and your MR should stop and not go back and forth.
Larry