CRJ-900 First Officer reported temporary loss of aircraft control during initial climb when the flight crew allowed the aircraft to overbank.

Narrative

Departed from ZZZ; going to ZZZ1. weather was fine but just some clouds and rain from the tropical storm nothing bad no turbulence. FO was PF and hand flying at the time. We switched over to departure after tower told us too and didn't get a response for the first two calls. CA thought it was another frequency but FO said that the other frequency the CA was on originally was the one they had written down. Finally got ahold of them on Comm 1 as soon as the CA was switching to use Comm 2. Both flustered at this point. Departure gave us direct fix more than 90 degree turn and another altitude to climb to. We were getting close to the original altitude given. FO; PF called for FCP set up but CA was delayed not really doing the FCP I think still flustered with the comms so it made FO flustered and was in a cloud and was in the turn towards the fix and just let the plane overbank; was a smooth overbank but unfortunately got the bank angle aural sound. PM saw it and called bank angle; but FO chose to not over control the airplane back to the left so because of slow reaction it made the bank angle go off even though both saw it just beforehand. FO chose to do this so it didn't alarm people in the back. The plane only got to that 42 degrees when it goes off no more than that cause they both already noticed but the FO/PF just did not want to snap the plane abruptly to the other side. Cause: Got distracted with the comms and the FCP not being setup; got flustered and tunnel vision and did not account for the overbanking especially in IMC. Saw we were getting close to bank; PM called and just got the bank angle for a second. PF did not want to overly jerk the plane in the other direction so it was a slowed response but the situation was corrected. The rest of the flight was uneventful continued to have a safe and good landing into ZZZ1. The plane is designed to have the bank angle" aural so we don't get ourselves into an upset situation of 60 degrees or more; thankful for that! Helps bring you out of the tunnel vision when you are in a flustered state like that. Lessons learned should have called for the "AP on" sooner in that situation PF was trying not to overload the PM while dealing with the Comm situation. But unfortunately led to this undesired state. Automation could have helped relieve pressure on both PF and PM. PF should have been more aware of the over banking tendency the plane has once you get around 30 degrees. The bank was smooth but PF was more flustered about the FCP not being setup correctly than paying attention to the flight controls of the airplane in that moment. PM should have been more engaged in setting up the FCP when the PF calls for it. The comm situation was resolved so the PM could focus more on doing their duties once they got the heading and altitude from ATC."