Intermittent runaway condition

Help please. I am using two separate Arduino Unos each with a SimpleFOC shield for a 2 axis gimbal project. Randomly each axis will go full speed. I have written traps and clamps and ramps to no avail. I am using GM5208 motors one is a 11 pole one is 7 pole. Both have a AS5048A sensor. I have shortened wires, added serial resistors to CS and SCK lines. I have added a pull-down resistor on MISO. Nothing seems to work.

Has anyone ever had a similar issue and how did you solve it?

TIA