Additive friction stir deposition (AFSD) is a solid-state AM method that feeds, plasticizes, and deposits solid bars using frictional heat. Although the AFSD is a promising method, its limited technology readiness level precludes its wider use. The use of optimum process parameters is critical for achieving successful results, and closed-loop control of process parameters can improve quality even further by reacting to and resolving any unanticipated issues that arise during the process. This article investigates the utilization of a process monitoring setup including various sensors to examine temperatures, forces, vibrations, and sound during the AFSD of the Al6061 aluminum alloy. Furthermore, it benchmarks the outcomes of the same process’ parameter set with or without utilizing a proportional–integral–derivative (PID). Large thermal gradients were observed at various locations of the deposit. Significant fluctuations in temperature and force were demonstrated for the initial layers until stability was reached as the height of the deposit increased. It has been shown that the change in the process parameters may lead to undesired results and can alter the deposit shape. Finally, residual stresses were investigated using the contour measurement technique, which revealed compressive stresses at the core of the part and tensile stresses in the outer regions.