Still awaiting a moment to dive deeper into this, but one thing that caught my eye is the very high damping.
When you want to get closer to a given pose, you’ll want to reduce damping, not increase it. Damping are like airbrakes, they stop motion. Be it translation or rotation. Also damping is a ratio, rather than a final value. Typical “strong” values are 0.1 and 0.01. With that, the final value will be 10x or 100x less than stiffness.
Also, give 2023.10.06 a whirl if you interact with the stiffness of the root marker, a few things were tweaked there.