Yep! The jittering I think is the first parts rotation, moving the other parts slightly cause they're attached in a chain. I could probably smooth out the rotation.
The regular climbing system casts a ray downwards and smooths the angle of the sprite to the surface, I use that angle to add relative velocity forwards. I also calibrate the position using the ray length so it doesnt go in/out of the ground.
The tail parts don't know anything other than the rotation of the main sprite. Each frame, the angle of the sprite is saved in an array that each of the tail parts look at in a delayed fashion. Like part 1 looks at the rotation 5 frames ago, part 2 looks at the rotation 10 frames ago and so on. For speed variation I stretch out that offset smootly based on current velocity.