I just re-encountered this problem a second time and noticed my original solution wasn’t actually a solution and just kind of a coincidence. I did some observations while my printer was doing this and noticed that the toolhead hitting the front panel actually has a really simple solution: the toolhead does this because it calibrates incorrectly when starting a print, and it does this because the toolhead was not reaching the edges of the printer. The solution I found was that the PTFE tube I was using was not long enough, and pulled back on the toolhead when it tried to calibrate. Once I replaced the PTFE tube for a longer one, the issue ceased to exist.