Joint1 following error

Step motors rapidly lose torque with RPM. It is possible that at F600 you are operating on the ragged edge of what your steppers are capable of. That combined with differing friction levels for different directions or positions on you machine due to binding forces, making the machine more prone to loosing steps in one direction vs the other. Stepper motors can be queer and finicky things, and when set up without suitable safety margins, will give troublesome results.

However, I don't understand why G-code "96: G1 X345 Y100 Z0 F600", runs properly with F600, but when I use G-code "97: G1 X0 Y0 Z0 F600", it fails to run.

It likely depends on the maximum velocity reached, (which is acceleration and GCODE dependent)
at some point the stepgen component cannot generate steps fast enough at the current base
thread period so falls behind, causing  a following error.