On the control+ app the steering seems to be more damped/ less sensitive with less occilations. Perhaps there is an over-current protection triggered with the BrickController2? That would explain why it happens more often on full batteries but it would not explain the humming sound after it jammed, so the motor ist still under current. Or it is running out of bounds somehow? I tried it with less amplitude setting on the steering but that dis not help either.
The max turn angle was all the time on 75degree as I already suspected that the issue could be related to this.