Joint drive pumpy movement

Hello, we have an issue with our robot’s movement and were hoping for some input.

Our robot right now moves with the drive components on both of it’s back wheels.

We expect the movement of the robot to be smooth but it is very bumpy:


How can we fix this?

Thank you

Have you checked the colliders for the wheels?
please check this documentation about the different types of colliders:

I’d recommend having it as Convex decomposition with the shrink wrap enabled - or redo the collider with a cylinder for a smooth surface.