Problem with custom character and BallSocketConstraint

Hello developers! I’m trying make a custom character (centipede and lizard) with segmented body and animated limbs. Everything was fine, until I noticed, that from other players perspective it looks “glitchy” when character moves.

All that I found out is that it may be connected with conflict between Motor6D and BallSocketConstraint. But even if it is so, how to achieve the desired result? Thanks in advance.