I updated the firmware on my controller, modifying the #define GUIDE_TIME_LIMIT value to 40, and it seems to have resolved the issues with slewing and polar alignment. However, I'm not sure if the values for #define AXIS1_STEPS_PER_DEGREE and #define AXIS2_STEPS_PER_DEGREE are correct, so I obtained them from the web interface. I plan to conduct some tests to verify the accuracy of these values.