I decided to change back from ARFoundation to ARCore. AR Foundation as you can see in the last videos was real laggy and made the tracks slip. ARCore works a treat now.  The only bad thing is I will need to redo it for IOS if I decided to make it for both IOS and Android. I also wrote an ambient and direct light that correspond with the environment light data. So now the lighting “matches” what we are seeing through the camera. Check it out,