I have the same problem on most of the CD32 comps, but only on certain games - Desert Strike & Final Fight for example. Like you say, black "flashing" occurs on the loading screens, but the game itself it usually ok.
I've tried different brands of CD-R... Sony, TDK and Tesco so far - the CD32 likes the Tesco ones the best
I've also tried burning with Toast (Mac) and Nero / CloneCD (PC) at the slowest possible speeds but the results are fairly consistent.
Some have also suggested FireBurner but I've not got round to trying it yet. There's also some debate (and confusion if you look through older threads) whether the images should be burnt using Disc-at-Once (DAO) or Track-at-Once (TAO).