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Zero-crossing based switch capacitor circuits have been introduced as alternatives to op-amp based circuits for eased design considerations and improved power efficiency. This work further improves the resolution, power efficiency, and robustness of previous zero-crossing based circuits (ZCBCs) and features a 90 nm CMOS, offset compensated, fully differential, zero-crossing based, 12b, 50 MS/s, pipelined ADC requiring no CMFB. The power consumption is 4.5 mW. The FOM is 88 fJ/step. Fully differential signaling is used to improve power supply rejection and power efficiency. A power efficient chopping offset compensation technique is presented. Reference voltage switching is improved to avoid gate boosted switches. Redundancy is used to reduce output range requirements for increased signal range. Two regenerative latch architectures used for bit decision comparison are analyzed and measured for offset, noise, and speed.