Thanks Bridgette!

I was seeing the issue on both the Y axis (single servo) and the X axis (dual servos). They had been Auto-tuned per Teknic's recommendations and I was still seeing issues.

I've been working with Zach on the Teknic support team. We tried a few things and it appears that the Nema 23 Clearpath Servo's may be undersized for what I need.

I've got a big Nema 34 on order to see if it help resolve the issue.