One of my sensors is broken or has torn wires somewhere, so I switched to HFI tonight.
After trying the various HFI and sHFI modes and playing with HFI gain, I found settings that work as smooth as sensors. I’m running Coupled sHFI with vesc default settings for everything including HFI gain at 0.300.
It makes a little bit of noise, but the back right motor isn’t cogging anymore, so I’ll take it.