my printer can print infill fine but seems to be skipping steps because it can't print small circles fast enough (lead screw set up on x and y) how would I slow down small circles but keep the speed up for regular infill?
If you ever get skipped steps, then you need to adjust your acceleration and jerk settings. Those will keep your printer from skipping steps no matter what speed you are printing at, since they control how quickly you can change the speed. If you have those settings wrong, you will constantly be encountering skipped steps, even at lower speeds.
So start by lowering the acceleration and jerk by 50% and see if that stops the skipped steps