The VESC 4 like the one that @Owen_Williams had tested it have the low-side current sensing in the two phase using the DRV8302 internal amplifiers. Instead the VESC 6 has the in-line current sensing with AD8418 in the tree phases and use the DRV8301.
Now you put me in doubt and it is better to check tomorrow if it physically mounts this amplifier to be 100% sure.
In any case one or two month ago i’ve tested the low-side current sensing in the B-G431B-ESC1 (if i remember correctly was in the dev branch) and effectively the “sound” and the behaviour of the motor was changed using the TorqueControlType::foc_current and FOCModulationType::SinePWM but as i was saying the motor still was like jerky and “sounds” bad (but less in this modality).
I have still in parallel this setup (B-G431B-ESC1 + unbranded motor) so i can compare the two! if I can make things work properly 
Today i’ve tried to use the TorqueControlType::foc_current without success and to undestand what is going on i’ve tried to use the SimpleFOCStudio