Hey @awo , bit late reply but here’s my take:
Changing the driver doesn’t seem like it would be worth it for the 1105 motors. Any of the drivers you mention will be sufficient for this little motor. Trying to go for more current capacity won’t help you I think, because the motor would just get too hot.
Adding current sensing could help you to detect stall conditions and other problems, but I doubt it will add much in terms of control. With a 12Ohm resistance just working with voltage or estimated current should work as well.
Changing the sensor is where I see most potential gains:
The MT6835 is not only more accurate and with faster response times, it also has a ABZ interface which the AS5048A does not. Using ABZ in combination with a hardware encoder implementation (we support this on STM32 and ESP32, RP2040 could do it using PIO) will reduce your sensor latency to zero and enable you to read 3 sensors with zero overheads.
This will improve your loop time significantly, since at the moment (presumably) most time is lost to 3x sensor readings.