Custom 75_150 board noise and not synchronized

Hi, i'm making VESC 75_300 based 75_150 board with smaller form factor.

It was very hard to just run motor few weeks ago, but after some parameter tuning it can run motor in sensored FOC mode.

I'm testing with T-motor U5 400kv, 6S lipo, AS5047P in Sensored FOC Mode on FW5.03.

BUT I am stuck at some point.

The problem is that when I increase duty over 5% at a time, motor screams and stop running.

The graph below is when I run motor at 20% duty(gradually increased by 1% from 10%)

Next graph is when I increase duty to 25% at one time.(when it is not running and making noise)

also a video here.

Motor detection parameters

Which parameter should I have a look?

Any little suggestions will be helpful.

Thanks!