Voices in MIDI recording not intelligent

Hello,
I recorded a short piece in Dorico. It wasn’t played quite in time, which is why it doesn’t quite fit in some places. It’s fine, but I don’t think the voice distribution is very intelligent, even though Dorico touts it as such.
Here is a picture of the recording. There are notes in one voice even though they are much too far apart, or in measure 8, for example, the eighth notes in the second line—why is the E suddenly in the upper voice and line?

Do you have any tips on how to improve this?
Thank you very much!