Have you tried lowering the BodyVelocity’s MaxForce? As right now you’ve set it to inf on the X and Z axis so there’s no limit to how hard it tries to maintain its set velocity.
What is the Mass of your Model? If it’s Massless or really high that can cause physics issues.
Have you played with the MaxTorque values of your BodyGyro? Haven’t used them a bunch, but should the Y axis be infinite? I’d assume that that would want to make it keep from turning at all. Also 40 seems pretty low for the MaxTorque X and Z axes.