Indeed, the problem has nothing to do with publication rates.
If you can recreate the problem in the voltage control mode, then it is likely caused by incorrect motor parameters; specifically, a slight reduction of the flux linkage parameter may be needed. This, however, is unlikely to be the problem because the automatic motor identification procedure is usually fairly accurate (excepting some marginal cases but your motor is not one of them).
If the problem only occurs in the velocity control mode, then it is likely caused by a mistuned velocity controller.
We recommend all new applications to adopt Telega v1, while you’re still using Telega v0. The differences are explained here: Telega v0 quick-start guide