A way to avoid step-out is by having sufficient torque margin and the proper inertia ratio when sizing a motor. If the torque margin is too small, the motor might have issues starting since there might be a higher torque load than the motor can output. If the torque margin is too big, then the motor might have noise and vibration issues. Finally, the inertia ratio should be less than 10 times of the rotor inertia.