Your machine is extremely tall for such a heavy router and large build volume you benefit greatly from reducing it by at least half. More accurate and faster cuts.
Your acceleration looks really high ours is set at 400mm/s/s yours is almost 700.
You are running your steppers at 1/4th power? Either wire them in series or turn them up. (we run ours at 50% power put have larger steppers. I also have series harnesses coming so running them at 90% long term is possible).