Lots of potential issues.

Swaybars are important.
If your carpet isnt high grip, may need to treat it more like astro.

There are a ton of setup sheets out there for a b6.3 and 4. I'd grab one from petit or ae and start there. Get as close as you can, ideally with everything matching except for the chassis. Go from there.

Also
Turn your servo speed down.
Use negative expo