As said previously, you can make one call to serial print and it won’t block. Here’s my method of dealing with it: https://community.simplefoc.com/t/stepper-cogging-in-open-loop-and-sensor-issues-as5600-magnet-confirmed-to-be-correct/7720/2
SmoothingSensor is the best bet for reducing acoustic noise with hall sensors. If you’ve adjusted the zero angle and velocity Tf all you can and it’s still noisy in torque mode, then you’ll probably have to pony up and buy a high resolution sensor. Then you can use angle_nocascade mode and increment the target the way velocity_openloop does it, to eliminate all cogging effects and guarantee that the average speed is spot-on.
You may still hear some high frequency speed variation in the played audio, though. Human ears are incredibly sensitive. 50KHz PWM with synchronized 50KHz loop rate would likely shift it high enough and small enough that no human could hear it, but STM32G431 can only do 17KHz loop rate with SimpleFOC’s relatively unoptimized code in foc_current mode, or 20KHz without current sense (which is probably not needed for the relatively low speed of a turntable)