Both drums are driven by the large chuck on rear of the drum (dark grey/black looking thing) take them both out and see if one is loose or not that closely aligned??? If one was to far off it wouldn't go in the machine anyways...
There is no adjusting the disposal rollers except the speed of them (TM 578) which is already set to 10% faster than the drum, could try 20 or 30%. If you remove the disposal box and look on the front wall you will see 2 orange/yellowish levers, one stamped 1 and the other 2. #1 will release the pressure of the disposal rollers and #2 will push them back together, they are for jam removal. As long as all the belts (5 I believe) are there and in the centered groove you should be OK.
I don't remember if Print drum Position A stays saved in each drum but I don't know if you want to start messing around with all these settings. I'm still leaning towards a mechanical issue with the clamp plate... but hard to say. No matter what setting you change make sure you write down what it was at so you can easily set it back. A second set of eyes can be helpful and hopefully you have the manual already. You can also rig the front door safety switch and remove the small cover (1 screw) at about 11 o'clock above the drum and watch what's happening during the disposal with the help of a flashlight. Do not stick anything in there!!! Could damage the drum or you'll be typing with 9 digits... Good luck
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