I checked the torque on the wheel nut and it was slightly loose. I just cleaning them, torqued them down really good, and redid motor detection in VESC tool. They seem fine electrically and sound slightly better, but the noise is still there.
I run them at 50A per motor… they detected at just over 30A but I increased it until I was happy with the braking power. I don’t push them hard enough that they get too hot (i.e, never hot enough that they burn my hand) so I didn’t think I had to worry about that. I’ll keep it set to the detection currents for now though.
I don’t think it’s the bearings. In the back of my mind I know it’s probably a magnet hitting the stator or a loose winding but I seriously hope not.
One thing that was interesting is that the spacers holding the rotor in place rotate while the motors spin. I don’t think that’s what’s causing the noise though.