What is your acceleration set for in motor tuning?
May be worth trying the 1/10 rule - say speed is set for 5000mm/min then acceleration would be set for 500mm/s/s - its not a hard and fast rule, just something i have works great as a starting point.
How big is the machine? For some odd reason i was thinking small but it looks big
I see motors are Nema23 but what size 3Nm, 4Nm ??
Current settings in the driver?
Is it rack & pinion ?