Throughout the years we have used different motor drivers, which all had different effects on the responses from a motor with respect to the PWM signal that was sent to the driver. There has been done some research into the effect of a motor driver on our control structure, but an actual compensation for it has never been made (and is most likely also not needed). However, it might by interesting to have a look at it.
Siemen has done some research into this in 2018 - 2019, of which the results can be found here: Wheel Response on Different Motor Drivers . The current motor drivers were however designed in 2019 - 2020, and I do not know whether these have every been checked for responses.