Ragdoll Lag or Physics Issue

Hello! I recently began developing my own game that features various ragdoll features that the player might undergo. The one featured in this video is a ragdoll that happens after you are freefalling for so long. The issue is that it looks laggy and spastic to the user and others. How can I prevent this and make it look smooth? The ragdoll uses ballsocket constraints like most ragdolls, and has limits enabled & twist enabled with the upperangle set to 45.

Video here

sorry but you dont need to activate humanoidrootpart Rootjoint so it wont noclip the map