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From the database you shared in the comments, try this:

Kp/MaxDepth=0                   # Should be 0 in general
Vis/MaxDepth=0                  # Should be 0 in general
RGBD/NeighborLinkRefining=false # Don't refine T265 odometry, it should be already accurate
Optimizer/GravitySigma=0.1      #  Force graph optimization with gravity constraints
Mem/UseOdomGravity=true         # Get gravity constraints from odometry (assuming VIO from T265)

Example reprocessing the database with those parameters:

$ rtabmap-reprocess --Kp/MaxDepth 0 --Vis/MaxDepth 0 --RGBD/NeighborLinkRefining false --Optimizer/GravitySigma 0.1 --Mem/UseOdomGravity true rtabmap.db output.db

Also, it is better to disable relocalisation feature of T265 if possible when using rtabmap. This issue is explained here.

You should also adjust the transform between the cameras based on your setup (for better loop closure optimizations):

<node pkg="tf" type="static_transform_publisher" name="t265_to_d400" args="0 0 0 0 0 0 /$(arg tf_prefix_camera1)_link /$(arg tf_prefix_camera2)_link 100"/>

cheers,
Mathieu