401k Employer Match Setup to avoid True Up

We have a 401K match for 100% of the first 3% and then 50% on the next 2% and are matching each pay period (biweekly).

The current setup only allows a maximum of 4% match based on their current compensation in the period. The concern is that individuals that contribute more than the 5% are not receiving the full match they are entitled to, and some also max out the yearly 401k contribution amount before the maximum benefit of the match. This is resulting in over 150 true-ups needed already at this point in the year (July), and some of the amounts are quite substantial (over $2,000).

How do we instead set it up so the match provides a true up or a continued match without a employee contribution until the match maximum is reached?