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.