The older DSD412 didnt have much past parameter 40,41,42 response, inertia,stability. Of the three the inertia is the most critical to get right if the car is to be stable at all speeds and loads. It really has to be calculated. But if set right , you usually can get by with less 40 response.
There is a 107 parameter tach gain which may help on cases of rope reasonace induced vibration. One idea is to also use the gain reduction switch. This allows you to back off the stiffness of control in steady state high speed, but adds it back in on acceleration and deceleration. So it gives you control where you need it. The newer boards have a notch filter parameter 190,191.