Hello @matthew.pearson,
I just ran a test using 5.9.1 and an offset TCP and can verify the issue is resolved with mode 3 as well. I ran the same setup on 5.7 and 5.9.1 to verify.
I checked with our internal team and the bug originally submitted regarding motion frame 2&3 not taking into account the active TCP offset has been marked as completed and flagged to have released with 5.9.