Torque control with Gimbal Mode with GM5208 from Iflight

Setup: Odrive v3.6+ GM5208-12 motors with AS5048A SPI
I am trying to run the motor in gimbal mode since it’s a high-resistance low-speed motor. I was able to calibrate the motor without any errors but when doing closed-loop control it gives an error saying “MODULATION_MAGNITUDE”.
The available options right now:

  1. replace shunt resistors according to this post
  2. Use Gimbal Mode to do torque control.

Is there a tutorial or something out there for doing torque control in the Gimbal Mode?