try printing slower, gives the machine more time to feed the filament so should slip less.
Also try lowering the temperature slightly. the filament is stiffer and should feed easier.
It's a constant balance between temp and print speed.

People starting out tend to believe what it says on the box - ie: print at 100mm/s or faster.
This is actually pure fantasy :-)
most of us print at between 40-70 mm/s.

Everything else looks good. No signs of under extrusion in the infill.