As you can see in the attached picture, there is a periodic discontinuity when I print a straight line. I was wondering if anyone else encountered the same issue and was able to solve it.
I believe that is something related to the stepper motor. When I put the speed less than 20mm/m, I can feel that there are a fast jump in stepper motor after like ~24 steps. But at higher speed, this doesn’t happen.
It sounds like to me that you need to setup grbl from scratch. I suggest you search for the grbl configuration guides from lasergrbl and here and go through an initial pass of those.
Before making any changes take a backup of your current configuration.