Sliding happens at 0:15 and 0:23 of the video. (mostly at locomotion Stops and Starts with Pivoting)
https://www.youtube.com/watch?v=DHKxnXpIt9Y
Anim graph logic:
Pretty much same logic as Game animation sample, but Lyra has its own ControlRig node which might be causing sliding?
I retargeted the GASP animations to Lyra mannequin.