Piston Rig

I followed a tutorial that shows how to model and rig a piston. Everything is working great for the most part. However, if you move the time slider to about frame 11 and 34 however, you’ll see that the arm doesn’t line up to where it’s supposed to with the driver. Can something be done in the XPresso setup to fix this? Also, is there a way to fix the delay/lag?

Thanks!
Matt