Last time I drove your car Chris it felt very good so I'm wondering what has changed.
It could just have been a particularly low-grip day at Jarrow? Perhaps our carpet laying on Sunday spoiled the grip
Otherwise, here is what I am wondering...
Does this coincide with fitting the LiPos? Go back to NiMHs.
What tyres? When I last tried you car it was on Minipins - go back to those.
Are you still running that 4.5 in there? Try something milder.
I had a similar issue at first with my Durga on the slippy floor - felt disconnected from the track. Stiffening the car worked, particularly at the rear, stops the car over-rolling and becoming unresponsive, keeps a more optimal contact patch, stops lifting wheels. Try the bars and see if they improve it, if not, try some even stiffer springs. Are you still running the blue AE fronts in the middle arm hole and the silver AE rears on the outer arm hole? That seems a good spring setup.