  We present deep Hubble Space Telescope near-infrared (NIR) observations of
the magnetar SGR 1935+2154 from June 2021, approximately 6 years after the
first HST observations, a year after the discovery of fast radio burst like
emission from the source, and in a period of exceptional high frequency
activity. Although not directly taken during a bursting period the counterpart
is a factor of ~1.5 to 2.5 brighter than seen at previous epochs with F140W(AB)
= $24.65\pm0.02$ mag. We do not detect significant variations of the NIR
counterpart within the course of any one orbit (i.e. on minutes-hour
timescales), and contemporaneous X-ray observations show SGR 1935+2154 to be at
the quiescent level. With a time baseline of 6 years from the first
identification of the counter-part we place stringent limits on the proper
motion of the source, with a measured proper motion of ${\mu} = 3.1\pm1.5$
mas/yr. The direction of proper motion indicates an origin of SGR 1935+2154
very close to the geometric centre of SNR G57.2+08, further strengthening their
association. At an adopted distance of $6.6\pm0.7$ kpc, the corresponding
tangential space velocity is ${\nu_T} = 97\pm48$ km/s (corrected for
differential Galactic rotation and peculiar Solar motion), although its formal
statistical determination may be compromised owing to few epochs of
observation. The current velocity estimate places it at the low end of the kick
distribution for pulsars, and makes it among the lowest known magnetar kicks.
When collating the few-magnetar kick constraints available, we find full
consistency between the magnetar kick distribution and the much larger pulsar
kick sample
