[Pault]

If the problem is just when the robot stops, I would actually recommend that you use a smaller proportional value whenever the commanded speed is close to zero. This will make the drivetrain drift more if your drivers want it to. It should also stop ruining your gears; they are probably being worn down by constantly oscillating back and forth when trying to stop, but when PIDing to a non-zero value they shouldn't see any abnormal loads.