Yes it can be done with an lfo
I really love and use this trick
even though it’s an awesome technique I find it is better for changing the feel or giving a slight variation in timbre
This is what I have done to achieve exactly what you are looking for:
When you sample leave a small gap of silence at the beginning of the sample, then use lfo on sample start and dial in the sweet spot. This way you don’t have to chop off the transient (unless you want to) and the actual time of the note is shifted around instead of hitting at the same time with a different part of the sound
The legnth of the gap along with lfo settings will determine how loose and varied the timing of the groove is. If your gap is too big, just move the start point up a little first and then set the lfo
Sine/saw is good for a shifting speeding up or slowing down feel and random s&h is good for humanizing. P lock to very little or no lfo and close to or dead on the actual start point to keep some notes tighter or gridded if desired (like the 1 for example)
A little prep work yes but it works wonders. Just remember to leave the little space when you are sampling. Samples you already have on the dt would have to be resampled with the gap to use this unfortunately. If elektron would implement microtiming as an lfo destination this would be very easy
Set to taste and combine with the other great techniques listed here for that more natural less rigid sound. With just very subtle variations that might seem almost imperceptible it can really liven things up . You don’t have to to have noticeable variation just enough so that you don’t notice how static it is