Just from an initial look at your .xml may I suggest the following…
Config. / Ports & Pins / Motor Outputs - change Step Pin # for A Axis from 5 to 8.
Config. / Motor Tuning - reduce Velocity for both X and Y axes from 400 to 300 & save each change.
Config. / General Config - Uncheck Use Watchdogs, Increase LookAhead to 200.
Please see if that makes any difference.
Tweakie.