Entangling operations are among the most important primitive gates employed in quantum computing and it is crucial to ensure high-fidelity implementations as systems are scaled up. We experimentally realize and characterize a simple scheme to minimize errors in entangling operations related to the residual excitation of mediating bosonic oscillator modes that both improves gate-robustness and provides scaling benefits in larger systems. The technique employs discrete phase shifts in the control field driving the gate operation, determined either analytically or numerically, to ensure all modes are de-excited at arbitrary user-defined times. We demonstrate an average gate fidelity of 99.4(2)% across a wide range of parameters in a system of 171 Yb + trapped ion qubits, and observe a reduction of gate error in the presence of common experimental error sources. Our approach provides a unified framework to achieve robustness against both static and time-varying laser amplitude and frequency detuning errors. We verify these capabilities through systemidentification experiments revealing improvements in error-susceptibility achieved in phase-modulated gates.The ability to perform robust, high fidelity entangling gates in multi-qubit systems is a key requirement for realizing scalable quantum information processing 1 . In several hardware architectures, qubits are entangled through shared bosonic oscillator modes via an interaction that is moderated by an external driving field. The Mølmer-Sørensen (MS) gate in trapped ions 2-4 and the resonator-induced phase gate in superconducting circuits 5-7 are both of this type. In addition, interactions simultaneously employing multiple bosonic modes have been explored to improve gate fidelities 8 and probe novel types of interactions 9 in superconducting circuits.A major source of error for oscillator-mediated gates is residual qubit-oscillator entanglement at the end of the operation 10 . This detrimental effect can arise due to the presence of quasi-static or time-varying noise on the driving field, slow drifts in experimental parameters such as the qubit and oscillator frequencies, or the presence of spectator modes that are not properly accounted for in the gate construction. In trapped ion systems, various schemes have been demonstrated that minimize this residual coupling 11-15 , with some also incorporating the ability to simultaneously decouple from multiple modes 16-21 . Their common feature is a temporal modulation of the driving field, modifying the trajectories of the joint qubit-oscillator states in each oscillator's phase space.In this work, we experimentally demonstrate a new class of phase-modulated (ΦM) entangling gates using trapped ions in the presence of multi-mode motional spectra. Specifically, we implement an MS-type interaca) These three authors contributed equally to this work. b) Current address: Fachrichtung Physik, Universität des Saarlandes, tion and employ discrete phase shifts of the driving field to suppress dominant gate errors. Using both an ana...