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Can you describe the jitter, I suppose you hear clicks or gravel noise from the servos?
Is it always like a steady stream of those noises or are the bursts every few minutes?
Please elaborate.

If i leave G91 and g90
It gives me an error:
Bug: Reached convert_stop() from M99 as subprogram return

Btw I'm on Debian 10 with linuxcnc 2.8.4

After some back and forward i have an analog output. the scale gain is suited for 18k rpm. The rpm limiting needed to be added otherwise an incorrect value, say M3S30000 could be input with 0v output on the pin. Unfortunately this doesn't limit the gui rpm.

# Load required components
loadrt limit2 count=1
loadrt scale count=1
loadrt conv_float_u32 count=1

# Add functions to servo-thread
addf limit2.0 servo-thread
addf scale.0 servo-thread
addf conv-float-u32.0 servo-thread

# Configure RPM limit range
setp limit2.0.min 0
setp limit2.0.max 18000

# Connect motion RPM output to limit2 input
net gui-rpm spindle.0.speed-out => limit2.0.in

# Output from limiter feeds scale
net clamped-rpm limit2.0.out => scale.0.in

# Scale: gain = 1 / 18000 = 0.22
setp scale.0.gain 0.22
setp scale.0.offset 0

# Connect to float→U32 converter
net scaled-float scale.0.out => conv-float-u32.0.in
net final-u32 conv-float-u32.0.out => lcec.0.0.Analog-Output-0