PROS doesn’t have setMaxTorque() method on the motor, but it has set_current_limit() method that will practically limit torque, which proportional to the current in the motor.
If you know that motor could be against the greater resistance that could stall it and overheat, you could limit the current to avoid overheating and raise it again when there is no resistance.
For example, if somebody pinned you and you cannot move. You first limit current to safe low value and only restore it back after your drivetrain could move again.
Smart Motor Library had an external PID with limiting voltage to the 393 motors.
If you use V5 builtin motor PID, then setting current or torque limit is a way to protect them, because default 2.5A could overheat them very soon.