This is an example of when you can't use the POI mode. The first limitation was the altitude was too low, the second being the tree was too large and too close to fly around whilst staying the center of the frame. I've also noticed it doen't keep the subject in the middle even when conditions are perfect, I'm pretty sure the old method from the original Mavic was more accurate, would be nice to have both options. Luckily it's a fairly easy manoever however in this scene it was hard to time it without a car driving past on the road below.
Nope sorry, but all you need to do is push the right stick in the direction you want to go and then push the left stick in the opposite direction and hold them as smooth as possible whilst keeping the subject in the center of the frame the best you can.