Step one is to reset the character pallet and make sure everything is at the default settings.
You should also always set an origin and groundplane before you do anything else.
There was also probably a lot of distortion in that footage. It would be a real good like to remove the distortion before you used camera tracking to keep things attached to the ground as they move to the edges of the frame.
How do you reset the character palette?
Distortion doesn't seem to be a problem. The tracking is quite good.The track points maintain their positions My primary concern is that when I insert text and camera, the text misses the target.
I think this short clip might better illustrate the issue that I'm dealing with. In the video, you can see that when I rotate the text in 3d space, it seems to rotate around the target point. What I'm trying to do is set the text precisely at the center of the target.
Read up on the character pallet. It's a vital part of a basic understanding of AE. There's a property called baseline offset and that is your problem.
fixes the targeting issue
center anchor point in layer content