LaserJet Printing

I have 3 MFP-M477FND, 1 works, and 2 have the same problem, I can easily print single-sided pages. But if I want to print double-sided, the paper jam message appears. The sheet picks it up and just when it starts to come out of the fuser, just when the lid is lifted to remove the sheet, the paper jam message appears. When you open the back, there is no wrinkle on the paper. It comes out perfect. Always, it is just when the fuser cover is lifted and the paper appears, it shows approx 1mm and stops. The sheet is almost all printed, except for the part that has not yet been collected and of course, the second side is unprinted because it does not get to remove the sheet to pick it up again and print the second side. I have tried with 2 new Fusers, which on another printer print without two-sided problems, I have changed the Transfer Belt of another printer that is going well, I have changed the reverse driver assembly of another printer that prints well. I have also changed the Registration assembly, from another printer that prints well. And I change the Secondary Transfer Roller Assembly, also I have change the Motor near the fuser, and I have updated Drivers, Firmware and it always does the same. The truth is that I don't know what else to look at. I would appreciate a help. Thank you.