mysql replication duplicate entry [migrated]

I replicate my mysql master to a slave. They works very well but once in a while, duplicate entry would happen and I don't know how to resolve it ending up copy the master over and start replicate again which costs me a lot of time.

This is the show slave status\G :

.....
Relay_Log_File: mysql-relay-bin.000139
Relay_Log_Pos: 12476407
....
Last_SQL_Errno: 1062
Last_SQL_Error: Error 'Duplicate entry '573026' for key 'PRIMARY' .....

I use mysqlbinlog to show contents of mysql-relay-bin.000139 :

# at 12476407
.... SET TIMESTAMP=1636678470/*!*/;
....
# at 12476445
#211112  8:54:30 server id 1  end_log_pos 12476475  Query   thread_id=9 exec_time=0  
error_code=0
SET TIMESTAMP=1636678470/*!*/;
INSERT INTO ..... (ID, ......) VALUES (573026, .....)
# at 12476664
.... SET TIMESTAMP=1636678470/*!*/;
....
# at 12476734
.... SET TIMESTAMP=1636678472/*!*/;
....
# at 12476772
#211112  8:54:32 server id 1  end_log_pos 12476801  Query   thread_id=9 exec_time=0  
error_code=0
SET TIMESTAMP=1636678472/*!*/;
INSERT INTO .... (ID, ....) VALUES (573027, ....)
....

Then I check select * from .... where id=57326; and the record exists so it is a real duplication though I don't know why. After searching the web I tried to skip that duplicated record from the relay by:

stop slave;
set global sql_slave_skip_counter = 1;
start slave;

It did skipped the problem record. But then the replicate stops at the next INSERT:

Relay_Log_File: mysql-relay-bin.000139
Relay_Log_Pos: 12476734
....
Last_Errno: 1062
Last_Error: Error 'Duplicate entry '573027' for key 'PRIMA ....
....

This time select * from .... where id=573027; gets nothing, so it is not really duplication. Appreciate any ideas how I can resolve this without copying the master over again. Thank you in advance.