No way to calibrate gyro

[RedstoneGithub]

After owning my Kobuki for 4 years, it seems that my gyro is off. It could be my LiDAR position, but I have tried multiple positions and changing the URDF but nothing seems to work. I get that kobuki is factory calibrated but it seems there is no way to calibrate if there is an issue. When the kobuki rotates or moves, the Odom is off. I set the decay time higher and rotated the kobuki to illustrate this:
How it looks stationary:
How it looks after a few rotations: (I believe this was one rotation)

Note that even in the same place, the LiDAR seems to have shifted permanently from the first scans. I assume this is gyro drift.
I have the 1.1.4 firmware, running ROS Noetic, and using a YDLidar G4. Global frame set to Odom.