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Hi I had started removing every single component until the jitterring had stopped. The very first link was even jitterring, I realized that maybe it's the inertia's that I had not setup yet. So I just put some reasonable values and it looks like the model is not jitterring any longer.

I also had to make sure the wheels had inertia as well, also the high friction coefficient that I got from the Golf Cart vehicle.

Thank you.