@V8jester I have tested the latest release of both IR (2.0.10) and the new dev release of KJR with the recent fixes concerning IR. I can report back that I believe the KJR fix is working properly with IR, because with the full release enabled, my ship prevents itself from going full kraken due to a SOI shift, and with the new version, the robotic parts freak out but nothing breaks... at least for a really long time until ridiculous torque levels are reached. With no KJR installed I get regular ol' explosive kracken on my solar array booms from the rotatron->hinge->robo-poles. I understand that a recent release from december attempted a fix for the drift, but I can confirm that it does not. My craft was exiting the SOI of minmus to escape kerbin SOI when I returned to find the kraken, leading me to reload with old/full-release version of KJR and the robo parts were stiff and safe. upgrading to dev release of KJR reengaged robo-drift-kraken on the same craft even after having 'saved' it with KJR. Another variable at play, whose relevance I am unsure, is that previous to my warp through SOI I had engaged the locks on the rotatrons. I hope that if drift cannot be fully fixed, that the out of control kraken nature of it can be... they are infinitely flopping, even as they attempt to obey my commands. I merely reorient the tentacles with the servo controls. This all makes me assume that some sort of damping parameter would not work. If you could explain your understanding of why this happens, perhaps that would be helpful to the community in solving this issue. For now, I am forced to be extremely careful with my craft and save files, and selectively reload certain craft using the not-working-with-IR KJR release.
EDIT: further testing has now spread the kraken to different save files, before any SOI changes. This is truly disconcerting because it implies I can't just save the game and revert to be safe... I cannot use this ship and IR simultaneously. Please, fix this bug