One solution to the jerky stop would be to transition the creep off a little slower so you could adjust brake pressure accordingly and stop smoothly. Not sure why they don't do that. There may be a minimum amount of power they have to send the motor due to a minimum duty cycle of the PWM electronics, preventing a smoother shut-down of power. Maybe they tried other methods of shutting down creep and it created other problems... So many times I wish I could interview the engineers who worked on this or that.