I would suggest trying to drive through the ground an instant longer and stay on those heels a bit longer.
Make sure you are keeping tension against that bar and keeping it close as you pull under. The bar gets away from you a bit and ends up throwing off your balance as you pull under.
You seem a bit hesitant to squat under the bar. I would suggest working on squatting under every rep to get you more and more comfortable there. Working on getting that squat dialed in will help keep you more stable pulling under and receiving the bar.