Now your ino the realms of Black Magic.!!

First thing first are you sure the Drive is tuned correctly to the motor.? If not then wasting you time tuning the controller.

However 500in/s/s is very high(12700mm/s/s) and could be the cause of your tiny overshoot. This is very abrupt stop and from high speed. You can see in the video how abrupty it stops. Try lowering the Accelration and see if the error disappears or reduces.

Also I notice you using kD value which often if required is much higher valule than 10. 100's even 1000's isn't unusual.
The kD value will fine tune the oscillation or any humming noice from motors.

You also don't mention the Kvff value. With such high acceleration then this value will come into play slightly as it trying to predict the next action and can help reduce errors if matched well to PID.

To be honest no one can truely help you with this unless in front of machine. Even then it's mostly trial and error. Also I wouldn't waste much time fine tuning untill the axis is fully finished and working as it will be when cutting. Just adding little more Mass or lowering resonance can change the Tuning when comes to fine detail.

Good luck and keep cool it will be worth the effort.