Mine has also the same problem. First I thought that it was because of water damage, but I disassemble the motor and the torque sensor and found that there are mechanical problems in it. The axle has a broken teeth, and the broken part has damage the magnetic part of the torque sensor.
Here is the picture of the broken teeth in the axel.
View attachment 64321
The broken teeth has damage torque sensor
View attachment 64320
I have clean and restore best I could and assemble back the torque sensor and motor. Now it assist a little better, but still have to apply too much force into the pedals.
I have the BESST tool and have tried all available firmwares and every possible parameter without any luck.
José