The servo “broke” :(. I started testing different step configurations to allow my robot to not hit itself while walking (kinda important). During this (and of course while I was demoing it walking), my MG996R decided to shut down. I disassembled the leg and opened up the servo, expecting a blown internal circuit, only to see nothing weird. I then tried the same (previously failed command), and it worked. I did some googling and found the culprit was likely thermal overload, and the driver/motor shut itself down so it wouldnt break. The one piece of good news is I now have an excuse to swap in a slightly refined femur backing, and that a leg swap can be completed in under 15 minutes.