I have exactly the same issue using v1.9.6 and v1.02 of the firmware. I am running Windows 10.
It has been tearing my hair out and I had literally tried everything I could think of in order to fix before stumbling across this thread (thanks for all posts so far). I was just on the brink of raising a ticket with Steinberg. The laptop is a fresh install and has had all the bloat from Windows 10 stripped away (as much as possible anyway!). Being my first ever interface I initially thought it was ASIO buffer size related, or some weird performance spike causing the issue. But I couldn’t see how because the laptop has next to nothing installed on it and is highly specced.
thank you