Ok, I did the mods:
R17 = 680Ω
Two 1N4148 in place of D3, voltage across them is 1.22V.
Also I changed Vin to 18V.
RL=no load, Vout=16.93V
RL=20Ω, Vout=14.61V
RL=10Ω, Vout=13.34V
I lowered it to 12V.
RL=no load, Vout=12.04V
RL=20Ω, Vout=11.99V
RL=10Ω, Vout=11.96V
So at lower voltages it 's more stable.
Maybe if I put a second transistor it 'll be more stable at higher voltages?