Any ways to make the tank move smoother?

Hello!, I am trying to make my own tank system but theres issues with how the tank drives.
when it moves the tank shakes and the movement speed seems to be inconsistent.
and when it stops it will sometimes move back and fourth


like i said the tank shakes a little bit when moving which i do not want to, the tank would sometimes
gain speed wayy out of the intended speed. in which all of those i cannot find my own solution
without the tank flying away. EVERY part in the tank is massless (except for the wheels and 1 part which acts as the weight for the entire tank), the spring constraint settings are

spring.Stiffness = 80000
spring.Damping = 1000
spring.FreeLength = 1.7

heres all the constraints in the tank if that would help.

thanks in advance

bumping this, i am quite desperate for a solution to this

nvm the issue was that the wheels we’re actually massless

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