Losing configuration and imu drift

I have two 75100 connected over can. They setup through foc and everything seems to work. Then the imu starts rolling back and forth. When this occurs the real time data screen locks up any time I try to open it. When  it is functioning I try to get my home made one wheel to move and it will if I am not on it. If I get on it then it does nothing. Or it kicks and does nothing until power cycle. During power cycle all settings stay. Yet nothing seems to work until a setting is changed and saved. While trying to figure out this maddening process one of my vesc stopped responding over canbus. Left it overnight and it worked today. Then today same thing happened. Lost connection over canbus. This is driving me insane. I have the phase filters off. Also if I raise i gain at all, the wheel just kicks and it faults. Does nothing after that until I save a new setting. P gain seems to work. D gain has no reaction at all. I have no idea what is causing this. If anyone has any insight please feel free to share. I'm so ready to just dump the build and throw the controllers in scooters and ebikes. Beyond frustrated. Thank you to anyone that may have any leads at all. I highly doubt this will be answered as most of the 3rd party hardware topics seem to go unanswered. I wish I had known about the trampa vesc before buying the flipsky 75100's.