Is the belt tracking proper over and around the sheaves?
Have you tried to modify door closing speeds?
When on inspection mode, does closing the doors manually produce a jittery movement?
Opens/closes fine at at top floor? You didn’t specify, but are the hall door gibbs on 1 & 2 free?
Do the bell cranks pivot freely, and interlock hook is not encountering interference on the lock box on the affected floors?
And last; was the belt loose when you encountered this issue? When you turn the car onto cartop inspect, do the doors drive shut? Some states don’t allow this feature to be turned on.
Bunch of questions I know, but just listing the things that aren’t difficult to check (except #2 if you don’t have a tool).