Most reliable control of VESC?

Hi All: My project involves commanding certain torques and speeds to a motor via VESC 6 EDU from a Rasberry Pi.  For best reliability, should I use CAN or UART or something else to interface with the VESC?  Should I use a specific BLDC frmware version for reliability?  The motor is low speed/high torque with Hall sensors: https://www.aliexpress.us/item/3256803118723106.html