Myself and many others prefer BLDC mode due to the sound, but also the acceleration is stronger and it seems more reliable (less likely to get abs overcurrent). However FOC is far superior at smooth takeoffs and working well with hall sensors. My friends and I would love if you could take a look at BLDC mode again and see what improvements you could make with everything you have learned so far. Cheers
maybe, foc starting, and after a defined rpm is reached, to get in bldc mode, or ful foc with integrated 3rd harmonics.