I found a solution to wipe out the voids.
Here are the settings I used:
- Infill/Wall overlap: 100%
- Internal solid infill pattern: Concentric
- Top shell layers: 3
- Top shell thickness: 0.2mm
To covering the gaps in the outer wall, increasee overlapping infill.
And the infill must completely fill all gaps, so only the concentric pattern can be used.
Additionally, I set the top layer thinner because the shrinkage size is proportional to the amount of material.
Here is output. It might be more smoother if the ironing is enable.
Z-Axis wall is also smooth.

