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Question problem with tmc2009 driver uart mode motor knock

Printer Model
Voron 2.4
I am building a Voron 2.4, I have a MKS skipr board with TMC3009 V3.0 drivers connected via UART. As seen in the video below, the motors make a noise like a slight knock once per rotation. I already tried setting the stealthChop mode and it does the same thing, I even tried changing the microsteps, the only thing that gets rid of the noise/hit is taking the drivers out of uart mode. I don't know what configuration to change in the uart mode so that I can stop doing this since I imagine that in the long run this will damage my motors. Has anyone had this problem? Do you know how to solve it? greetings