You need to adjust the proportional pot and level the swashplate.

Because you have the rudder trim set 95% left you need to turn the proportional pot counter clockwise.

To level your swashplate you need to shorten the pushrod on the right side of the heli, to correct the 95% right aileron trim, and lengthen the left pushrod to correct the 95% forward elevator trim.

If your heli still circles as you have described you may have TBE due to a bent flybar or shaft.