That high of spindle speed at that feed rate my money is on that bit is smoked and that’s why your skipping steps. You need to slow that spindle WAY down. 12k is more than enough going that slow. Your bits will last a lot longer.
just thought I’d report back incase anyone else is having similar problems in the future.
my x axis was still skipping steps so I pulled the core off. turns out the belt was crossing back over itself in between the stepper motor and pulleys!
This was the best I could get. I also had to reverse the x stepper wiring to get it moving in the correct direction because I effectively reversed the belt when I rectified it.
In plan view, think of the belt going up and over a hill. Mine was doing a loop de loop.
As the others have said, the idler- whether smooth or toothed- make contact with the smooth side of the GT2 belts.
I think it’s as described- the supplier made a bunch of kits that way.
There’s no significant performance penalty for using toothed pulleys as idlers in this application. Probably a small bit of additional wearing of the belt and maybe a tiny fraction of a mm or motion jitter.