Small reverse rotation.
I often program a rotary position back a bit from the desired position then rotate to the final position, so the approach is always from the same direction.
That's how I make my backlash irrelevant.
Doing fine micron level stuff, my machine needs a long time to settle down.
Once it is working, you want to skip meals. Turn it off and it cools.
Super X3. 3600rpm. Sheridan 6"x24" Lathe + more. Three ways to fix things: The right way, the other way, and maybe your way, which is possibly a faster wrong way.