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Abstract The solid inner core, suspended within the liquid outer core and anchored by gravity, has been inferred to rotate relative to the surface of Earth or change over years to decades based on changes in seismograms from repeating earthquakes and explosions^1,2. It has a rich inner structure^3–6and influences the pattern of outer core convection and therefore Earth’s magnetic field. Here we compile 143 distinct pairs of repeating earthquakes, many within 16 multiplets, built from 121 earthquakes between 1991 and 2023 in the South Sandwich Islands. We analyse their inner-core-penetrating PKIKP waves recorded on the medium-aperture arrays in northern North America. We document that many multiplets exhibit waveforms that change and then revert at later times to match earlier events. The matching waveforms reveal times at which the inner core re-occupies the same position, relative to the mantle, as it did at some time in the past. The pattern of matches, together with previous studies, demonstrates that the inner core gradually super-rotated from 2003 to 2008, and then from 2008 to 2023 sub-rotated two to three times more slowly back through the same path. These matches enable precise and unambiguous tracking of inner core progression and regression. The resolved different rates of forward and backward motion suggest that new models will be necessary for the dynamics between the inner core, outer core and mantle.