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Video: https://youtu.be/zbYMTAb4XsA

Tl;dr
So I tried measuring everything you covered in the video. Everything but this looks good:
Where I should have 5V, I have 4.3-4.5V
I have set the Vref to 0.1-0.15V, it's almost at the end (of the rotation)
You were showing that you shorted all the pins under the DRVs, so how should it be on the toyrep? I know you said it shouldn't be an issue, but I still don't know which should I use :D
Sorry for responding 5 days later, I've got a deadline on two another projects so I had to put some time there.