Looking for ways to smooth out the movement of my stepper motors.

I have been tuning my set up for a few weeks now and have most of it dialed in. But, I still don't have my steppers operating like I want them to. They work fine but I want to decrease the harsh changes of direction, especially for short length infill. I have gradually turned down the accelaration and jerk all the way to 750/2.5. In cura I have decresed my speeds to 30mm and 15 for infill and it is still jarring. Today I upraded my mounts and and couplers so it can handle it but I would really like it to get this sorted out. I want to make it cushion the changes in direction so i can turn the speed back up. Also, during starts of moves or transition of lines the motors will make a harsh shuddering vibration and then go back to moving smooth. That is by far the most annoying problem of all.

Any suggestions would be greatly appreciated.

I am going to try to post a copy of my configuration.h