DRV8434A: Motor starting jitter and stop locking problems

Tool/software:

The jitter during power-on is acceptable. In the case of constant power, we want to do every time the motor stops, the next start time do not shake.
In addition, after the motor stops, how to maintain the stopped state is more appropriate.
Is it okay to just stop the pulse? We found that it was hotter.
Now we will pull down the nSLEEP signal into a low power consumption state, so that the motor will not heat up, but the next time we remove the nSLEEP and resend the pulse, we find that the motor has jitter. Is that what happened?