Some notes about phase-detection AF.
The camera normally order the lens to shift focus to a specific setting. Then it normally makes another check "good enough".
One of the things the lens reports back to the camera is how fast the lens AF system can accelerate/deccelerate and how much play there is in the mechanism. Play means that when the focus motor switches direction, the relevant lens element groups will not directly start to move in the other direction.
So the camera tries to predict what focus position to send to the lens, to have the lens end up at the correct position. As the lens wears, the play can increase, making the camera guestimate wrong orders to send to the lens. In some situations, this can be fixed by sending in the lens and have it recalibrated.
It seems that in newer lenses, Canon have added in extra position sensors in the lens, to better measure the actual position on the focus scale, making camera+lens better decide how long to run the focus motor at max speed, and when to start to break to end up at the exact location that would correspond to the original AF sensor reading (and potentially during the travel time having computed multiple new solutions based on position sensor data and AF sensor data).
But note that phase detection AF is only as good as the calibration between camera and lens. And for a zoom lens, that calibration can change a lot depending on zoom level. And over the years, the camera manufacturers have had huge issues getting the side AF points to give decent focus with different lenses.
Only contrast-based focus will remove the calibration issues between body and lens, or the issues with image flatness (obviously under the assumption that there aren't so much play in the lens that the camera body isn't able to get the lens to "land" at the requested focus position)