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That oscillation is more likely due to a loose worm, not a tight one (backlash), but leave the backlash comp off as Marc says, and just fiddle with the worm. A "lag" error is symptomatic of a binding worm, I assume you dont get this error?. Assuming the 4th curve is one run, and the green curve at the top is the start of the next one, your polar alignment is indeed way off.
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