[DonRotolo]

If improperly implemented it can be jerky and (insert other negative adjectives here). But that is not an inherent quality of swerve drive.

What EricH said: Build Season is not the time to teach this aspect to yourselves.

Try this: Ask what capabilities you are trying to gain with a swerve drive, and brainstorm "other" ways of accomplishing those capabilities. Then pick the one you can reasonably implement.