The Nikon AF-S 55-200 mm lens is a consumer grade lens ($350).
It is not designed like, nor is made using the better glass, as Nikon's professional grade lenses.
Which is why Nikon's AF-S 70-200 mm lens is $2100.
I agree that you are using to small a lens aperture and at anything smaller than f/11, like f/22, you are losing focus sharpness because of diffraction.
You need a much better understanding of how to control depth-of-field - DoF:
Understanding Depth of Field in Photography
Lens focal length, point of focus distance, and lens aperture all have to be managed to control DoF.
Lastly. If you are using a tripod VR needs to be turned off.
Nikon VR explained