Likely connected to your step_pulse_duration = 0.000005 setting.
This artificially limits the max step rate and with this the max velocity that motor can achieve. If you nevertheless exceed this limit, then this error will be raised.
All I can tell you that my (hopefully correct) interpretation of the error is:
You are generating more steps than the stepper driver can process / consume due to its timing constraints. As a consequence, the motor starts lagging behind its target and at some point Klipper is telling you that the “Stepper is too far in the past”