In electronics, you don't want to fix a problem unless you really know first what went wrong. So you go after it.
My math, for 19.87V out RV2 was 1,483 ohms, and 17.87V is 1,324 ohms, a drop of 159 ohms (with R6=100R).
But the potentiomenter works fine in another build. So is it the pot? It's not making sense...
If the pot has a noisy spot, you can test it with a multimeter. Or connect it backwards (reverse rotation) so the wiper is somewhere else to get the same ohms but not on the noisy spot.
Try to get it (PSU) to misbehave, go back to the old potentiometer or use a 1.5k resistor in place of RV2, connect a scope to the output and look for oscillations to rule them out.
At these currents you will need to pay attention to wiring and single-point grounding. The end of R6 sampling output voltage should be as close as possible to the output terminals/binding posts. "regulator to minimize line drops which effectively appear in series with the reference, thereby degrading regulation."
The J2 output ground should connect to the input big filter caps' ground after J1, as well as the pot RV2. Not at the end of a long trace/wire that runs to all the little parts. All this is to get the best regulation and stability possible- you already got 10mV at 6.17A which is very good so your layout must be fine, but a pic helps. It is possible to wire a PSU like this so that it starts to oscillate under heavy load.
Those scope measurements look fine. You are basically looking at noise at 2mV/div. Is the raw DC from a mains transformer and rectifier, or is it from a SMPS?