So we run two 9210s in house and its unfortunately a very common issue with these machines. Believe it or not it's not actually a skew with the machine its a magnification issue with high density on either side if its duplexed. Essentially what's happening is its laying down so much toner on one side that when it passes through the fuser again its being warped by just a small amount. This causes the machine to try to overcompensate and leads to what you perceive to be skew.
With every affected paper stock heavy stock tends to be the worst culprit you'll need to manually adjust the magnification on one side of the sheet. Grab a mm ruler and print out a duplexed solid image and measure each side. Whichever side is slightly larger is the one you'll need to manually adjust. This is a temporary fix with that specific paper stock. Avoid running the auto adjustment for that paper stock again after doing manual adjustments.
We rarely have to touch our registration once its adjusted, but remember this is a machine and shit does fall out of wack every once in a while! Hope this helps! Sorry for the hard read im trying this from my phone