Actually, if you look at the firmware at the time, the proper procedure was followed as far as I can tell. All of the necessary bits were set and checked with

Actually, if you look at the firmware at the time, the proper procedure was followed as far as I can tell. All of the necessary bits were set and checked with the appropriate delays where required. https://github.com/mjbots/moteus/blob/dcb900c92ffd5d5c8f54053d5a21fe11c4c6f4f3/fw/bldc_servo.cc#L611 https://github.com/mjbots/moteus/blob/dcb900c92ffd5d5c8f5405... Notably, the datasheet is largely silent on interactions between different ADCs during initialization.