If you want a gentler startup, you might try an audio taper pot instead of a linear taper. That is, if you are using potentiometer for speed control. If it "gentles" the accelleration at the top end instead of the bottom end, swap end leads and change fwd to rev.
What controller? You may be able to configure it to torque mode rather than speed mode or something like that. My Kelly controllers can both be configured this way. Actually the Kelly KBL controllers have torque mode, speed mode, and "balanced" mode and I think I have it on balanced. I like having a good bit of torque on hand for maneuvering.
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