3D Camera Tracker / Text Tracking way off Composition?

Here is the link to that thread that shows how I set up a shot using camera tracking:

https://www.dropbox.com/s/qoiuaozfhougaqa/A001_C013_0729G2_1%20vfx%20V3.mp4?dl=0

For a shot like that, I would use Detailed Analysis. I use it on most shots. Then I would make sure that I set an origin and ground plane and add a solid and a camera using the exact same coordinates. Then you check the tracking. Adding a Grid effect to the solid will help. Camera tracker also ignores effects added to the layer. If you need Lumetri to bring up detail so there is more to track you should make color corrections first, then Pre-compose, then run Track Camera on the pre-comp.

It looks to me like your camera is upside down, which means you had a bad camera solve. That sometimes happens if you leave off Advanced Analysis.

Once you have the origin and ground plane set and the reference solid is tracking properly you can add other layers. Start by adding a reference solid on the surface where you want to place your text and make sure that the solid sticks to the surface properly. If the origin and ground plane is good and the new reference is not sticking then the points you chose for the surface (plane) were not correct. When your reference solids are all tracking properly you can just add a 3D text layer, hold down the Shift key and parent the text layer to the reference solid and the text layer will snap to the same position and orientation. I usually have four or five reference solids, all set to guide layers, on every shot needs to be camera tracked so I can make sure the track and the tracking markers that I pick are good. 

I hope this helps.