Yes, I think you could tighten the belts a little to see if it helps. Your text should be cleaner, try disabling bi-directional as that's an easy way to see if it's backlash.
You can enable over-scan, but it isn't anywhere near 3-5 mm. If I remember correctly it's 2X the resolution so if you are using 0.1 it's only 0.2 mm.
The negative with over-scan is explained in my documentation, but basically you need to ensure the 0,0 (start point) isn't at the machine 0,0 or it would potentially hit the limits and it also slightly increases the image size and shifts center. At 0.2 mm it isn't noticeable, but that's why I didn't do 3-5 mm.
On my machine with home switches you can start it using over-scan at machine 0,0 as there's enough travel (since at home Grbl pulls away a little). Not all machines work like this so I have to design something for everyone.
The easiest way to achieve what you are suggesting is to add a white space border to the image and not enable rapid skip blank. Essentially the same as the software doing it, but then you have control and a known image size / center etc.
I may be able to do something else though to prevent the "spot", let me give it some thought.