Mesa 7i97T & LinuxCNC setup struggles

ok that makes sense, and after spending some more time working on it, including taking the scale back to 10, i have it now in a pretty good spot where i would consider it time to start tuning.

does the halscope guide tommy put together also work for tuning torque mode PIDs? otherwise im currently hunting out an equally well put together guide so i dont resort to just changing numbers and seeing what happens.

I would try the steps A,B,C of example 1 I posted earlier