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The backlash is in the gearbox, you can see it in the motor output shaft and when you pull the gearbox apart you can see it in the plastic gears.
Encoders won't do anything to correct/improve dec guiding, guiding corrections are supposed to be tiny.
Thanks for the help, I'll get a price for an RA motor and mock one up to see if 2 will actually fit before deciding which way to jump.
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