Prelude for piano - feedback welcome

Hello,
This is a relatively small prelude in D minor where I've tried to focus on voice leading and constant figuration throughout. I'm aware of some weak points, for instance measure 55 -> 56 has a parallel octave in soprano and bass. I didn't fight it because the soprano is just part of the figuration, the melody is lower.

I've posted my first piece a couple of weeks ago and received wonderful feedback regarding engraving - hopefully it's better in this one, though I do not feel like it is perfect (score video has varying number of measures per stem due to Musescore peculiarities).

If you have any feedback regarding voice-leading, harmony, structure, engraving, or anything else I will be very happy to receive it.

Thank you.

Score video

Score PDF