by "skipping", what behavior, exactly are you referring to?
is the chain grabbing teeth on the cog next to it? or is the chain actually slipping from one cog to the next under power? can you share any pictures of the drivetrain? especially one with the chain in the 10t cog AND sagged, as mentioned.
"slipping" but I basically have the same question, what does it mean specifically (or do they even know? do they just feel a clunk but have never actually seen it?)
generically:
The chain ridding up onto the next cog is either caused by being out of adjustment (cable adjustment, limit screw) or often sometimes by a bent derailleur hanger. Bent hangers usually only cause issues in the middle area of the cassette. Sometimes it can be caused by just very bad chain line with the front cranks. 1X is always a compromise for chain line at the largest and smallest cogs. Usually its a "pick one" scenario where the large cogs OR the small cogs work perfectly, but not both. Many people will bias the chainring to the large cogs with shimano to prevent back pedaling issues (especially 11, less an issue with 12).
Actually skipping OVER the cog is usually caused by wear or mismatched chain and cogs, but that seems not to be the case here (I am assuming the cassette and chain are genuine shimano and not 3rd party or ebay counterfeits)
Mixing new and old parts can cause a problem. If the chain is ruined for example and skipping, and you buy a new one, the cogs may now be too worn for the new chain, which makes the new chain skip. This then destroys the chain, but you think its the cogs so you buy new cogs, and the cycle continues. Small cogs are the most prone to wear if you use them a lot, and also the most prone to skipping a worn chain if you DONT use them a lot. It is a chicken and egg thing. This is why they tell you to replace them both at the same time. Now obviously "most of the time" it is fine and no one does this, but you might just have a peculiar gear usage that makes things show up that others really don't see.
More fussy things are:
B tension will reduce or increase the wrap around the bottom cog. With a 10t, you want as much wrap as possible. If it is not wrapping enough it could skip over under high load so you want the b tension looser (wound out) most likely. Some things to look for specific to shimano 12 is that the b screw plastic piece is actually on the right side of the derailleur hanger. it can easily be installed wrong, although I would HOPE a shop mechanic would notice. When it is installed wrong the derailleur can pull forward too much cause all manner of bad things.
Because of the huge offset on the upper pulley on 12s, REMOVING chain links will actually reduce the wrap around the bottom cog, and possibly make things worse. 12s is a bit fussy, and you kinda need the exact right chain length. You should not be fudging it longer or shorter to attempt to correct something.
The clutch can be bothersome sometimes. A sticky clutch can cause the cage to keep a very high tension on the chain, which in turn could cause the chain to ride up on the cogs. The motion of full suspension can tighten and loosen the clutch causing it to behave badly intermittently.
Last, when you have the clutch OFF there can be a very noticeable kick back because of the mass of the derailleur assembly when you pause pedaling or back pedal or when the suspension moves. You feel this most in the smallest cogs. This can cause the chain to derail and you would "feel" a clunk as it goes back into place. In this case, this is just annoying, but not actually a problem. You mostly want to keep the clutch ON on an FS bike.
I expect you or the shop has already checked most of these, but I would start with the hanger alignment, checking the b screw plate position and checking the clutch motion. It may also be worth a quick check on the actual frame alignment. 99% likely it is fine, but I have seen some TERRIBLE "high end" FS bikes on here (and one of my own).