If you haven’t checked out Odrive, you’ve gotta see what those folks are up to.
I normally use the VESC but they’re $110 a channel. The Odrive is $129 for two 24v channels and includes a brake resistor which is really nice. Plus the Odrive isn’t the tiny uncertain project it was when I pre-ordered one myself back in the day. Odrive seems to have an amazing community, extensive documentation, good performance, encoder support, and now the current shipping hardware will soon get CAN support with an upcoming firmware update.
I still have enough VESCs to build the upcoming Rover Mini, but I think I’m going to check out Odrive next time I need controllers. Take a look!