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Ya'll are great help - I went searching for differences between the axes in the INI and HAL since the encoder switch should have been a major problem and I found that I didn't add the do.pid.calcs to the servo thread for the a axis (addf pid.a.do-pid-calcs servo-thread). Now I got a tuneable axis with WAY too much coast (possibly a drive param issue), but now I have an axis that obeys at least. On to tuning!