I imagine you use "brake mode" and set a brake current using BLDCTools. Did you try to use "current mode", and set a negative current ?
I suspect the issue is related to this in mcpwm_foc.c :
// When the filtered duty cycle in sensorless mode becomes low in brake mode, the
// observer has lost tracking. Use duty cycle control with the lowest duty cycle
// to get as smooth braking as possible.
You could try to comment out the "if ( .. " following the above mentionned comment in the source file.
Discussions regarding the Field Oriented Control (FOC) implementation on the VESC.
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