The kobuki base on your own does not drift, so it makes sense the tilted inertia brings about the drift. Needless to say I am able to hack my URDF which has a weightless superstructure, but I desired to deal with this in a more practical way. I tried all https://www.uk-exhibitionstands.co.uk/future-of-exhibitions-key-trends-for-the-next-5-years/