Because the drone has a very wideangle lens, it was closer to the trees than the video suggests.
The tree at 0:53 is much too close for safety with waypoints.
Another at 1:32 isn't much better.
Because of inconsistency in horizontal and vertical positioning, you need a bigger safety margin when flying waypoints.
I'm concerned about your earlier question: >> Could the steepness of my driveway take-off point be an issue?
Are you asking about the angle of the driveway surface, or have you launched from different levels on the driveway?
Launching from different levels will affect the height of your waypoints, because they are relative to the launch point.
Wherever you launch from equals zero ft.