This paper combines previously developed non-lifted norm optimal iterative learning control (NNOILC) with a cross coupled formulation resulting in a cross-coupled non-lifted norm optimal iterative learning control (cross-coupled NNOILC). The objective is to improve the contour tracking performance in precision motion control of multi-axis systems while retaining the computational efficiency properties of the NNOILC. The NNOILC is able to provide many of the same design advantages of norm optimal ILC (NOILC) without the restrictions on trial size. Convergence and robustness properties are provided and shown to be similar to previous efforts in NNOILC. To demonstrate the proposed approach, experiments on a multi-axis robotic testbed are given.