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I had problems with the Z stepper skipping steps (at least I assume that’s what the buzz is), so I increased my Z driver voltage to 1v, and reduced the z maximum acceleration to 40, and that appears to have fixed it.
The increase voltage does make the z stepper get rather warm, but I can hold onto it without much discomfort, so it seems fine.
I think reducing the acceleration helped the most. Estlcam appears to have a bad habit of not specifying speeds on Z axis moves, so it likes to inherit the last speed used for x/y, which is way too fast.