I have a NAD c521i that I bought used about two months ago, maybe less. It had the skipping problem, but it would also just stop while the laser was unsuccessful at reading the data. Sometimes the motor would just stop spinning.
I took to my local tech who checked the screws holding the pcb in place, used a q-tip with distilled water to dampen very lightly and carefully cleaned the laser lens, then made an adjustment to the laser assembly screw (which I don't think did much).
The other thing the tech advised me to do was to find a cd with many tracks, preferrably with over 15 tracks. Start to play the cd on the first track and immediately skip to the last track. This forces the assembly to travel the full length of the rails and then skip back to the first track. In simple terms, this gives the mechanism a work out.
In my case, simply using the cdp has helped. I have gone weeks without ANY issues, until two days ago when it temporarily hung reading data for about 1 second. After looking at the CD (from the library) I saw why. The disc surface had some messed up areas that frankly, I'm surprised the player could read. So no surprise there.
I have also removed the cable ribbon from the pcb and from the laser assembly, which is easier than it sounds. Remove a few screws on the assembly to get a safe grasp of the connector on the laser assembly so you can safely remove the ribbon without breaking anything. I sprayed/cleaned with some DeOxit on the contacts at each end of the ribbon cable and replaced. You can also swap ends and try that way.
I did a simple cleaning of the rails as well after using some canned air to carefully blow out any dust/debree.
Sounds like a lot, but I love the sound of this deck and for the price I paid, I doubt I'll find anything better without spending a lot more.