Dont think your servos would be powerful enough for that but just some low motion relatively short moves would show it up.
I think the problem would follow the drive as it does seem to me to be a tuning or drive issue.
If not wanting to do that, can you monitor the position from the drives software on another computer or possibly it has a scope in the software that you can use in manual tuning mode. You could then look at the response of the moves the drive is making whilst in the manual tuning mode, maybe even compare to another axis. I think things are over damped and you are just not getting the axis on track soon enough at the end of a move.
Hood