When comparing the signals, I further found different output values of the video signal for the composite signal and the RGB signal.
And the RGB signal looked a bit weak/dark on my broadcast monitor.
When switching between composite video and RGB the was a remarkable difference in brightness.
As I don't want to just increase brightness/contrast which is problematich when using different devices I looked at the video levels with my oscilloscope and checked it with the schematics. The voltage levels are quite different due to resistor mismatches. So the RGB signals feeded to the AD724R are out of tolerance, which is max. 700 mV while the AD724R is feeded with 800mV signals for 100% (intense color). This additional 15% results in a overmodulation and it depends on the chipsets what they do.
They can cut the voltage simply over 700mV reducing the difference between intense and non-intense signal which is the easiest way. Anyway it is not defined how TVs or monitors behave with these signals as they are out of standard. Due to the logarithmic behaviour of the eyes 15% more signal will be recognized as 30% in intensity. On the other hand the RGB output signal is only 620mV while it should be 700mV as well for intense signal which gives only 88% of signal which will be recognized as 77% due to logarithmics.
So in comparison to the 800mV signal the 620mV signal is only 78% which will be recognized as about 60% luminance or 40% difference while assuming the other one would be 100%. This is a big difference and caused through the resistor values R19,R20,R21 (82R to 75R) and R34,R38,R43 (42R to 75R). As the signal from the transistors have a 1.3 volt level the values should be optimized to 68R (all named resistors) to divide this signal into a nearly perfect 700mV level for 100% color (intense). The non-intense level matches more or less exactly 75% at the output, resulting in about 520mV signal which will be recognized of a reduced luminance of about 50% perception.
So my advise is to replace all resistors R19,R20,R21,R34,R38,R43 with 68R values to get the same (optimal) brightness for composite video and RGB video and finally I tested it with a broadcast monitor and measured with an oscilloscope to meet the video standards.

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