This might be resolved by disabling the udma.
if you say that BIOSes provide switching between PIO0 to PIO4.
but there is no way to control UDMA in a BIOS.
Because every Operating System (without DOS) is taking control after the bootstrap over the hardware and even FreeBSD.
If the kernel is taking control. Use switches at the loader prompt:
set hw.ata.ata_dma="0"
This will load the drive without issue.