: This paper proposes an advanced double zero-sequence (DZS) PWM method to extend the linear modulation range of a five-leg voltage source inverter (FLVSI) for dual-motor drives. In the FLVSI, one leg is shared by both motors, and six modulation signals are synthesized into five leg reference voltages. Although conventional DZS PWM achieves this by injecting two zero-sequence signals, these signals can cause the leg reference voltages to reach the voltage limit earlier, reducing the duty margin near the linear modulation boundary. To overcome this limitation, the proposed method injects a compensation voltage that keeps the leg reference voltages within the linear modulation region while maintaining common-leg operation. The proposed method extends the linear modulation range under in-phase operation and improves fundamental-voltage linearity and current THD under different-frequency operation. Its effectiveness is verified through experimental results.