Switching from MDI to Manual control causes an issue in the Joint positions

I am working on a 5-axis cnc machine and when playing around in the kinematics I encountered a strange issue where when I am working in the TCP and go from MDI to manual control the joint position changes example:
MDI :-
X=150 Y=0 Z=-75 A=0 B=10 degrees
switch to manual
MANUAL:-
X=152.353 Y=0 Z=-76.232 A=0 B=10 degrees

I initially chalked it up to it being an error in my kinematics but when I tried to do a similar maneuver with the '5-axis table dual rotary' machine that comes preinstalled with linuxcnc I faced the same problem.

is there anyone experiencing this issue as well? any help is highly appreciated

What version of linuxcnc are you running?

I cannot reproduce this on my side. Do you get this behavior using a simulation or only on real hardware?

I am using linuxcnc 2.9
I am working on simulation but the behavior in the real machine appears as joint following error which i think it’s reasonable error due to sudden change in joint position

So, in the '5-axis table dual rotary' simulation, which hal pins are you seeing this change in value when you switch between Manual and MDI mode?

[edit]
Here is  how I'm trying to reproduce the issue: