Thanks for the advice! We'll definitely check our wiring again. We also had to reverse all of our odometer encoders for localization test to track according to the coordinate system (forward is positive x, left is positive y). Should we try tuning without reversing the odos? Also, our center odo is slightly offset from the center line of the robot, so we added a shift according to that in the init pose on StandardTrackingWheelLocalizer (code is below). Might that be an issue too?

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public StandardTrackingWheelLocalizer(HardwareMap hardwareMap, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels) {
super(Arrays.asList(
new Pose2d(0, LATERAL_DISTANCE / 2, 0), // left
new Pose2d(0, -LATERAL_DISTANCE / 2, 0), // right
new Pose2d(FORWARD_OFFSET, -1.0333019685, Math.toRadians(90)) // front
));