AutoTune stepper servos in 7i95 and 7i95t boards

Do you mean with loop closed in LinuxCNC?
If yes, then:
-in the hal file, set feedback to stepgen, omit the encoder feedback
-set P to 1000, FF1 to 1, the rest to 0
-set the scaling properly so machine moves the correct distance it was commanded
Only after this is correct:
-in hal set feedback to encoders, omit the stepgen feedback
-open the "calibration" from the "machine" menu
-set P value to 15 or 50 or 100, test, check motor for vibrations, lower that value till vibrations are barely noticeable
-try jogging that axis/joint slowly and gradually increase speed
-might also need lowering FF1, only after checking above
-Test values till you get smooth motion at whatever speed is OK for you
- do not forget to save settings by clicking on "save to file"
Make chips.