Remora RP2040-W5500 — immediate joint 0 following error on first move

I'm an old retired engineer with limited LinuxCNC understanding trying to get @scottalford75 's Remora RP2040-W5500 project working.— and am now getting immediate joint 0 following error on first move (command ~125) after successful runs, low spike filters, W5500-EVB-Pico.

With Grok's help, I had this working reliably a couple of days ago... running full logo G-code and longer files to completion without errors. This was probably with unrealistic relaxed settings, however... just trying to get it running in the Axis visualizer.

After some tuning attempts and reflashes, it now fails immediately on the first G0 move with "joint 0 following error" at command 125, even with:
- SCALE = 38.5 (X/Y), 200 (Z) — proven on Grbl/FluidNC
- Acceleration set to 0 in [TRAJ]
- FERROR = 15+, MIN_FERROR = 1.5
- G61 exact path mode
- Clean reboot, minimal background, performance governor
- remora.status = TRUE, spike filters very low (~500-700), read.time stable

Tried:
- Full flash_nuke + both available .uf2 files from repo
- Re-upload config every time
- Power cycle Pico 60+ seconds

Halshow shows stable polling, no high spike filters, but pos-fb lags immediately on first move.

I've attached my .ini, .hal, and config.txt files.

Thanks for any help you can give me.

Moved to "computers and hardware"

Thank you. I've also (I think) resolved my problem by refreshing my .ini and .hal files from the repo. I had gotten them totally out of whack without understanding what I was doing. I can now run jobs to completion without the following errors.

BTW this is LInuxCNC 2.9.8 running on a miniPC with Debian "trixie" -> W5500-EVB-PICO board -> Arduino CNC shield with TMC2209 driver modules.