Buoyancy Bug (Roblox Physics)

I made this temporary submarine model, but as I started adding steering to the submarine the rudder model itself seems to glitch out the entire submarine.
I’ve pinpointed the problem to the part named “Hinge” inside the rudder model, but I have no idea what could be causing it.
I’ve also double checked all of the parts’ densities and massless properties.

This bug also happens on land.

I can’t look at it right now, but are the 2 Parts joined by the Hinge close to the the same Density?

Roblox Physics doesn’t like it when the Parts are different Densities and can cause this type of flinging issue.

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Tried setting the 2 parts to the same density and then the entire sub to the same density but the problem seems to still persist.

Turns out there was also a problem with the LinearVelocity which I was using, I changed the VelocityConstraintMode to Vector and that seemed to fix it.

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