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Based on the image you shared of (I assume) wheel velocity vs time, you should first try tuning your PID gains to get rid of the oscillations.

See:

https://robotics.stackexchange.com/questions/167/what-are-good-strategies-for-tuning-pid-loops
https://www.crossco.com/blog/basics-tuning-pid-loops

That's the easiest thing to try before exploring other possible fixes.

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