Tunning advice for geared motors (GIM4305)?

Hi, I’ve experimented with couple custom Simplefoc boards and they works fine with motors without gearbox. recently i got a robotic joint motor GIM4305 :https://www.aliexpress.com/item/1005003433829950.html

was tryna get it work with angle -velocity-torque mode but had no result after days of trials. I was starting from torque control mode, got it move in a very weird way after setting current I term to 350, P term 0.05:

Giving any torque value like 1, 2, etc. its only going to hold the motor in place, and for it to move, need to set torque to 0, and then the motor starts spinning if subjected to external force.

Does anyone know some tips when tunning geared/robotic joint motors like this? Many thanks

You might want to check the order of motor-phase pins again.
If they’re set wrong and the PID is also out of control, the motor spins backwards in some occasions.
Better start with open loop and check if the motor spins clockwise or anticlockwise. That has to match with the sensor direction.