I think it looks like the drivers could use (or have a more finely tuned) a PID controller to smooth out the steering. I did some experimenting a number of years ago on AI cars in unity:
And what I discovered is that it works best to have the “go to waypoint” position, be actually somewhere out in front of the vehicle, where he is aiming at, and not directly pointing at the waypoint nearest to his position, but rather somewhere along a spline between the waypoints in front of him (represented in the video as a cube) and have that “dynamic waypoint” move along the path of the waypoints. Doing it that way (and with a PID controller for steering) makes his movement much more lifelike, and smooth as when a person is driving a vehicle (no jerky left and right steering towards a waypoint).
Anyway, I discontinued that project long ago, but perhaps you might see some ideas for improving your project
