Vehicle jitter when there are small changes in velocity

I created a vehicle based on the Vehicle Tools provided by Unity. However I noticed that there is notieceable jitter when there are slight changes in velocity, such as when letting go of input, and the vehicle keeps rolling on it's own and slowly rolls to a stop.
I tried configuring suspension, wheel collider friction settings as well as different configurations of substeps.
Nothing seemed to have made a significant different. Would appreciate any help!
Thanks

 

never used it recently but you can try lowering timestep and check interpolation on rigidbody.