How do you properly character rollback?

I want to create my own server authority in Roblox.
My issue is that I’m unable to perfectly perform rollbacks.
I have tried to rollback only if the error is significant, however it still does not meet my expectations.
TweenService causes some unexpected jitters, however using Lerp instead somehow prevents this.
Character rollbacks are when you smoothly move the character to the correct position.
This is my script:
ServerPhysicsIntegrity.rbxm (7.0 KB)

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