https://files.catbox.moe/b0nnm1.mp4I think I might have recreated the issue while stationary. Some times the chain as it's going to the cassette jumps slightly, and you can see the derailure go forward a slight bit, you can also hear it.
I don't know if it's out of the ordinary, but I checked everything else with a shimano cassette and this is the only one with the noticeable wobble you can see towards the end when it is free wheeling, The cassette isn't loose, maybe the wheel is a bit off?
Does the jump seem like a worn cassette issue? Only happens in the gears that feel like they a notch once in a while.