UPDATE: 4/1/2023
I beefed up the AWG used for the Power Wires from 22 AWG to 20 AWG and that took care of the Packet Error issue. I also slowed down the DUAL CORE iteration rate with a 150 ms delay and that took care of the occasional erroneous values of Present Position and Present Velocity.
So although I had learned a lots from this project and the individual parts were cheaper, but the shipping costs were too high, so the end-user is still better off financially and technologically just to purchase a MKR DXL Shield from ROBOTIS 