Switching what i already have made with AngularVelocity's to use Torques

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1

I’m currently using AngularVelocity for a turning system with skateboards and i am trying to convert what i currently have to using Torques instead to remove a problem that i have with the board staying upright while on a slope (in the video)

the code for the turning part:

while task.wait() do
	if turning == true then
		if turnval < 5 then
			turnval = turnval + .08
		end
	else
		turnval = 0
	end
	
	if right == true then
		BoardTurn.AngularVelocity = Vector3.new(0, -turnval, 0)
	end
	if left == true then
		BoardTurn.AngularVelocity = Vector3.new(0, turnval, 0)
	end
end

When using regular torques with something like this they become unstable and spin too much. Im just trying to make the turning have a sort of static (apart from when you start turning) AngularVelocity.Magnitude number