Problem solved! This has taken months. I checked grub screws, belt teeth…. I had noticed that now and then the hot end juddered when moving to position, but not all the time. The person I bought the machine from had cable tied the hot end cable harness to 1 of the Z motor arms. It was hanging loose and tidied up the harness, as it does tend to flop about on my other machine.
When close to the bed (within 10mm) and only in specific positions it held the arm causing the belt to slip! Also G29 failed most of the time as the probe was not triggered due to the arm being held back. The judder now solved, G29 completes and bed leveling showing a decent graph.
Thanks for your help. (I have learned lots of G code and Duet wiring though)
Gary