: This paper proposes a full-speed range sensorless control strategy to minimize the common-leg current in five-leg inverter (FLI)-fed dual PMSM drives. To overcome the poorly damped characteristics of conventional I-f control at low speeds, an active and reactive power-based controller is implemented to suppress speed ripples and maintain a 180° phase shift. For medium- and high-speed operations, an EEMF-based phase controller is utilized to ensure precise phase synchronization between the two motors. Furthermore, a seamless transition scheme is introduced to prevent transient current spikes caused by operating point mismatches during the handover from I-f to EEMF control. This integrated approach effectively minimizes the common-leg current magnitude across the entire operating range, enhancing system stability.