As I said before. With the vertical axis of the position controller we expect a following error. All you can do is reduce it but you can’t remove it. When I rewrite the vertical controller it will look more like the xy controller where the lines are on top of each other.
On the position controller side of things there are parts of this log that don’t make sense to me. It looks like you are using custom code. What changes have you made. Please provide a link to your repo.