For the love of god. You're going to hurt yourself. You don't need to be a robotics expert but, you want your motors to not jitter? Use a robotics library! PLAN the trajectory. The jerk will disappear and lots of other things will disappear. Your trajectory generator will say "sorry, Dave" (throw an exception, they're mostly C++), rather than the robot crashing or hurting you or the battery catching fire (which these servos can easily cause). Basic blind servo control is cool for RC cars but for something this size it definitely isn't.

Don't send raw step changes to the servo positions. Use a trajectory generator that enforces position/velocity/acceleration/jerk limits, ideally use measured joint state (but not available on hobby servos) rather than assuming commanded position was reached, and add hardware-level current/torque/fault limits and a real emergency-stop strategy. Torque/current limiting, if necessary in software, is the minimum here.

If you're worried about safety: compliance can be implemented outside of the motor, e.g. with springs.

Yes, at 100x the cost, so anybody taking the route of using servos is not going to do that either. Plus it's 2026, not 1960, use software.