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A runaway means positive feedback

Does the motor hold position with just the P term?
I would comment these lines out:

net encoder.02.vel -> pid.3.feedback-deriv
net motor.02.vel-cmd -> pid.3.command-deriv

and try again

Also note that raising the servo thread rate (to say 4 KHz)
will improve the PID loop performance, and also that
final tuning needs to be done under load.