Apparatuses and methods for controlling torque produced by a propulsion system in a vehicle. A torque request is received for the propulsion system with the propulsion system having a motor speed of substantially zero. A first torque that meets the torque request is produced using a first motor system of the propulsion system. A first thermal condition of the first motor system is identified. Torque production is switched from the first motor system to a second motor system of the propulsion system in response to a determination that the first thermal condition meets a first set of criteria.