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I'm using a modified Marlin 2.0 Firmware. You too can download, configurate and flash your Kossel using the firmware and guide that can be found here:

https://www.lpomykal.cz/kossel-marlin-firmware/

Lukas also has written a great guide about Delta calibrating/leveling your Kossel bed after flashing the firmware (which is a lot easier and more reliable after getting rid of the Anycubic firmware):

https://www.lpomykal.cz/kossel-bed-calibration-marlin-fw/

I hope you can find something here to help you out with your problems.
I've been using the custom firmware for about 10 months with no hiccups or problems at all.

Good luck. Bye for now, Jay.