@chownki
I had some similar error messages on my Duet 2 Wifi months ago.
All was working fine and suddenly some phases may be disconnected.
To make it short, in my case the connection of the stepper was weak.
I checked it a couple of times and I thought the connections is fine, but when looking in detail, the crimping on the cable was not perfect and I could pull the cable out of the contact shoe.
To be 100% save I soldered the cable to the connector shoe and this error message did not appear again.
So shame on my crimping style.
You may check with a complete new cable on your driver giving the error message.