@jay_s_uk maybe you find some solution there: https://duet3d.dozuki.com/Wiki/Gcode#Section_M556_Axis_skew_compensation
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@jay_s_uk i's not a 3D-Printer but a Duet controlled machine. I can't go int details.
The kinematic is configured as followed:
M669
Kinematics is Cartesian, no segmentation, matrix:
1.00 0 0 0
0 1.00 0 0
0 0 1.00 0
0 0 0 1.00