Ryan,
There are many different ways to accomplish this.
Here is how I do it (well, the parts that pertain to what you need to get through mini setup)
Install base image, customize, patch and leave in Audit mode. (I don't run sysprep to enter audit mode, I use ctrl+shift+F3 after new install)
(I don't pre-create and drivers directories or anything. Pretty much install, patch and customize settings)
run sysprep /oobe /generalize /shutdown (I don't point to an xml here)
capture the image after it shuts down being careful to not let it boot up before capture
Deploy the image with your template and include an "inject script" action for your unattend (to create c:\windows\panther\unattend.xml)
Add an HII operation to enumerate hardware and inject drivers. The c:\windows\lddriverstore folder will be created automatically.
That should be enough to get the machine through sysprep (drivers and unattend.xml) Once you have that part working, you can start adding more template actions to meet your end goal.
If you still have hangs/"bluescreen of death", boot back into WinPE and see what drivers were copied to c:\windows\lddriverstore and make sure the appropriate driver(s) were injected.
I'm not sure if you need all that stuff you have in the Audit pass
I have attached my xml if you want to see if it works for you
-Tracy