MXUS 3K 5T Stuttering, Desync, Cogging sounds FSESC 75200 Pro V2 72V

Hi! 

I have a 72V ebike, FSESC 75200 pro V2 with an MXUS 3K Turbo Motor. It is laced inside a 27.5-inch rim, and at first, I had an MXUS 3K 3T (11.89 Kv) version, which I managed to tune, and it was working perfectly with 200 phase amps. Since the 3-turn motor had a high KV, it gave me speeds over 100 km/h, which I didn't need, and I prefer more torque, so I swapped it for a 5T (7.15 Kv) motor because the 3T would also overheat fast.

Since I got the new motor, I'm having issues with desync. The motor runs smooth until it reaches mid RPM, and at that point, when I give it some throttle, It starts making terrible sounds, sometimes causing current faults. It feels like the motor is skipping, and the controller can't keep track of the rotation in sensorless mode.

I did the FOC measurements a bunch of times, and I realized that the resistance and inductance change depending on the time constant I use before measurement. My KP and KI values are also dropping while I'm increasing the time constant. I'm not sure how to get the right values. I tried 600-2500 uS.

What Sensorless ERPM and Openloop ERPM shold I use? The motor is 7.15Kv. I have phase filters enabled, Zero Vector frequency I tried from 15-30 kHz, but I don't see any difference, it only sounds different. What other settings should I try? Current Conrtoller Decoupling? Observer Type? Control Sample Mode? I turned MTPA off since I saw it is not meant for big hub motors?

Thanks!