Diffusion-Weighted MRI often suffers from signal attenuation due to long TE, sensitivity to physiological motion, and dephasing due to concomitant gradients (CGs). These challenges complicate image interpretation and may introduce bias in quantitative diffusion measurements. Motion moment-nulled diffusion-weighting gradients have been proposed to compensate motion, however, they frequently result in high TE and suffer from CG effects. In this work, the Optimal Diffusion-weighting Gradient waveform Design method that overcomes limitations of state-of-the-art waveforms is revisited and validated in phantom and in-vivo experiments. These diffusion-weighting gradient waveforms reduce the TE and increase the SNR of state-of-the-art waveforms without and with CG-nulling.