Slight Gaps

[curious aardvark]

what slicer are you using ?
it's usuaklly much simpler and easier to just increase or decrease your extrusion multiplier than bugger about with e-steps.
increase it to make your extrusion thicker and decrease to make it thinner.

It's essentially adjsuting the e-steps - but without all the hassle and you can change it on a print by print basis.

There's a lot of stuff that is easier and quicker to do through the slicer than by mucking around with firmware and configuration files.

I keep getting slight gaps usually on the rear-left & front-left side.

that would suggest the left side was calibrated lower than the right.
Is it the same for both extruders ?
if not - then it's an extrduer calibration issue.

While great machines idex can take a bit of calibrating.
You've basically got twice the problems of a normal single extruder machine.

You might find that sticking the extrusion multiplier to 1.1 or 1.2 sorts it out. And a slightly thicker first layer is always a good idea.

Looking at the print. yeah it's printed too fast and too cold. Up your printing temp and stick the extrusion multiplier to 1.1.
change retractions to 3mm and 65mm/s.
And see if that works.

with direct drive printers you can go really short on retractions. With flexible filaments I use 1.8mm and 40mm/s (flexibles ned slow retractions and even slower printing) But with the rigid filaments you can basically go as fast as the extruder will support.
I don't think I'#ve ever gone faster than 75mm/s - never needed to.
these days it's usually 65mm/s and 3mm length.