One thing that I can add to this question is that @mrfugu’s idea of putting the chain roller into the threaded hole of the motor means that the chain cannot come off of the sprocket to skip. I also put standoffs to move the bungie pulley at the base of the frame out to the same xy plane in the z direction as the sprocket and I have not had any issues with skipping at all. in fact, whenever I recalibrate the chains, I have to remove the roller otherwise I can’t get the chain off of the sprocket. If the roller can be implemented in this way on the stock frame, then no additional parts would need to be added.