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Just a little tip that I first discovered building a Wallace G1 with PLA rack and pinion drives on the X and Y axis.

Get a product called Super Lube (I know it sounds corny) which is a synthetic lube I've been using since the mid-80's before synthetics even became popular and some flux brushes from the plumbing section of your local hardware store (Or buy a big bag at Harbor Freight if you have one nearby.) Use the flux brush to apply a thin layer of Super Lube on the inside of the block, the piston sides and the teeth of all the gears. You don't want to goop it on you just want a thin thin layer. This will make the engine turn noticeably smoother and even more noticeable is the reduction in noise. Just remember a little goes a long ways and on small parts like linkages I use water color brushes from the dollar store

Super Lube is inert and 'food grade' so there is absolutely no harm to PLA and in fact it keeps the friction heat down which can make PLA soften. I haven't experimented with it on ABS so I can't say for sure it will work there over the long run (I've coated the PLA racks and gears on my Wallace G1 over 18 months ago with zero negative affects) but it should work with ABS too OK