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I'd recommend taking a look at the Motor Drivers FAQs if you haven't seen them yet. According to this problem, I would suggest reviewing the "Selecting the Best IDRIVE setting and Why this is Essential" FAQ: https://e2e.ti.com/support/motor-drivers/f/38 and the "Best Practices for PCB layout of Motor Drives" FAQ: https://e2e.ti.com/support/motor-drivers/f/38/t/746299 I cannot see if there is any overvoltage). Both of these overvoltage and undervoltage conditions can cause damage, and be solved by good layout and IDRIVE settings.
For more device specific, I suggest taking a look at the DRV8353RS EVM and reviewing the user guide for the schematic and quick start steps that should be considered when developing a design https://www.ti.com/tool/DRV8353RS-EVM
