Running an ACS355 drive in Vector-Speed mode requires that a motor model be built (Para 9910). Then the loop gains must be set up in Group 23. You can start with about 10 in 2301 and 1second in 2302. Leave the others at default.
If these seem ok and the motor still doesn't start reliably, switch 9904 to Scalar-Frequency and see what happens. There will be less starting torque but it should be the same each time.
Also, due to minor differences in motors that are labeled the same, you cannot swap drives around on identical motors without re-running the ID mode.