I'll summarize for people finding this now:
- adpcm is not great for gapless looping playback, as it's files have a duration that is a multiple of a block size. By micro-adjusting the duration of the source wav file, you might get closer to that multiple.
- the best chance to get an adpcm output that aligns to the correct length seems to be GitHub - dbry/adpcm-xq: Xtreme Quality IMA-ADPCM Encoder / Decoder . It has to be compiled from source
- For the convenience of Mac users that tool was wrapped into a Desktop app: ADPCM encoder tool (Mac-only)