@Valentine you have a good point.
In our tests the peak consumption was only 6-7A and the average is 2-3A. It is borderline near the safety margin, I usually like to have atleast 2x.
Beyond 6A at 11.1V (3S), The 3D printed gears started melting. So the model is not compatible more than 60W. That’s why I stuck with DRV8316, since board size should also be small - I will have to rethink my choices.