Lowers shouldn't be tighter than uppers, and the pin to pin is 35'-10 1/2", not 35'-6". I also don't find the 163 adds to helm much at all in 10 knots-the additional sail area forward pushes the bow down, not up. Additionally, check mast butt position-should be EXACTLY one inch back from the step in the floor in the head. This is very critical to getting all the other rig settings to work. That said, 3 to 5 degrees isn't that much helm-you need a little helm to help feel the boat.
Finally ( and most important) was the boat being sailed flat? Heel increases helm radically-you should always (other than really light wind) sail as flat as you can. We sail with a minimum of 6 adults on the rail fully hiked whenever possible (obviously this applies primarily when racing).
