It sounds like you are talking about backlash in the steering.
Every gearbox/geartrain system has some amount of backlash. Even belt systems can have some backlash but generally the friction between the belt and the pulley between the cogs will be enough that you won’t feel the backlash.
Reducing backlash is good. But there will always be some backlash. In the AM swerve module, you have a PG steering gearmotor that has, I believe 3 stages of planetary gears inside, each with some amoung of backlash. Then you have the backlash between the output shaft and the driving gear and then the backlash between the driving gear and the driven gear. With the AM setup, I’m not sure there is much you will be able to do about the backlash.
For your steering feedback control, are you using an encoder on the module itself (MA3 or Lamprey) or are you only using the PG encoder? If you are only using the PG encoder, then the backlash will not affect your control loop stability, but it will affect your steering accuracy. If you are using an encoder on the module itself, the steering accuracy will not be affected by the backlash, but there will be a deadband of motor rotation that will not cause any module rotation and your control loop will need to be able to handle this deadband.
All swerve steering systems have some amount of backlash and it generally does not cause any significant problems in how the robot drives or the accuracy of odometry. I don’t know what a normal amount of backlash is for the AM module, and if you think your modules have an excessive amount, you should review the assembly to make sure everything is assembled properly ,that there is no excessive wear on the gears, no loose joints, etc.