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Are you using 7I95T encoder feedback?

Can you post your hal/ini files?

Reducing the steplength and stepspace parameters
will not directly cause a following error, though reducing them
will allow higher speeds that may expose other limits.

The 7I95T is capable of generating up to 10 MHz step rates

 

I see something in this last image which I'm sure is just a future task but it was a problem in the old planner so I'll mention it.

You should NEVER blend G0 rapid moves. And definitely not blend them into a G1.

G0 always needs to be exact stop (with jerk control). If you blend a G0 move you wind up hitting fixtures, vises, gouging your work and breaking tools.

Normally you would set this so it never gives errors in normal operation
(since stopping on a following error is catastrophic )