Hi Greg,
Those look reasonable but very difficult to see in a video. Please post settings and plots instead.
Looks slow. Do you have speed requirements?
You might test how many counts to get a full revolution of the shaft.
You might calculate the motor RPM to see how it compares to expected motor RPM for that motor.
Normally the reference gain of the amplifier should be set such that when 10V is commanded the amplifier drives at slightly more speed or torque than is ever needed. I suspect that although configured for current/torque mode it is really operating in more of a voltage/speed mode using the back-emf of the motor to control speed, otherwise it would be unstable without D gain.