Pid Joints dont work when rotated

Godot Version

v4.2.stable.mono.official (with Jolt)

Question

Okay so I’ve got a custom joint system which makes use of PID controllers.
And it works when the whole system is facing the X axis.
image
but when I begin applying torque to the balloon (da sphere) the whole thing
begins becoming unstable.
image
and when the balloon is fully facing the Z axis the
thing explodes more less.

so the question boils down to how can it be made more stable, such that we can apply torque to the balloon and not have it it all fall apart.

Heres the link to the drive with the project file : rope-problem.zip - Google Drive