Darrel,
Missed your last post while composing mine.
You mean like a initial "step" (or steps) at a velocity less than A_Max, just to "break the edge" on the trapetzoidal/triangular profile? (If not, could you clarify?)

That could help, ideally it should be at all four "corners" of the profile but having it at the start and end of the move is certainly better than nothing.

Thanks again Darrel!
/Henrik.