Hm... Your noise actually sounds a lot like Leaf motor in FW. I could hear very similar sound with my friends Mazda RX8 Leaf motor. He uses 200Vdc and he gets up to 4000rpm and then Lebowski brain switches to FW. But in my Pug i dont hear the transition, i guess it has better insulation. Also he claims his 3rd is a bit worn out too

Can you draw what happens to Td and Tq around that speed? I think you should see some skew in graph at change of sound.
Also what about the sound in 2nd gear at the same RPM?
What i noticed though if i am under FW and i push the EMGCY switch and then release it, motor will immediately synchronise and drive on. But if i have RPM upwards of FW range motor wont be able to sinchronise and i will have to slow down and wait for it to go back online at lower RPM.