This was a simple fix, just a quick redesign of the actuators to be able to fit a thin section bearing. For context, the original actuator used 4.5 mm metal pellets (from a local hobby store), and a swept cut around the mount plate for the second stage planet gear holder, and the clamp. The assembly for the top portion is as follows:

To improve the design I ordered several thin section bearings, 40 x 52 x 7 mm bearings for the small actuator, and 50 x 65 x 7 mm bearings for the large actuators. The .stl files were modified such that it can press-fit the bearings. Below is what the new design looks like: