Reversing direction causes motors to jerk

Does each motor turn smoothly in one direction and jerk in the other? Or does the direction that jerks change?

If it is always one direction that jerks then it is just about possible that you have step and enable swapped, or step and direction. I had this once, and was surprised that anything even slightly worked.
It's unlikely, I admit, but worth a check.

I got it sorted out. The new drivers work much better so this ended up being a firmware bug that has since been fixed by Gecko.

Glad you got it sorted. The number of issues I've seen reported on this forum makes you wonder why they have such a hallowed reputation.

Maybe more issues get reported because more people use them than other well known brands?