It's a mechanical problem. First I would check all pulleys, if they have black screws in them tighten them a bit extra. (Which is hard to do on the motors, I know)
There recently has been a batch of slightly lower quality of these screws that need to be tighten a bit better or they vibrate lose.
You could also use a black marker to put a dot on the pulley and axes, so you can see if it shifts (It's how I detect this issue at UM)
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joergen 2
It is a mix of different problems, and it occasionally happens to me as well.
First, check if the jump happens only in one direction, or two directions.
Second, check if your belts are tight, since they will jump a tooth on fast sudden moves if they arent tight.
Third, check the lubrication of the XY carriage (use thin oil on the rods)
Fourth, check the temperature of the XY steppers during printing... They should/will have around 35C, up to 60C. They they are really cold, it is a sign that they dont get enough current/power, and you need to adjust the small trimpots on the stepper drivers up by "1/2 to 1h" (borrowing the image of a clock face for the trimpot). The ideal spot is between 9 and 10 o'clock
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