I agree. I think I can confirm that the problem lies in the track/wheels design.
I removed the tracks and fitted four wheels with rubber tyres. The model runs smooth as silk. Absolutely no jerkiness from the drive train.
I believe that the cogs on the large track wheels are too rounded and too short, so that there is no continuous take up of the track by the drive wheels.
It is a take up, slip, take up, slip action.
The small track wheels are also badly designed in that they sink into each track link and have to climb over each link to then sink into the next one.
Strange how something so obvious got past Lego's designers.