I presume the jerky ride on the C stock is down to having 3x 2 car units to make a up a 6 car C stock. Especially departing Baker Street eastbound when the front motor car is off the juice rails going over the points, the rear and middle ones are still powering and so on as they all cross the gaps causing a jerky ride.
You will get that on all the RPA controlled stock (1967TS, 1972TS, 1973TS, C69, C77 and D78) but to a much lesser degree on the D78 due to an improved control system.
Most units are made up of two motor cars and some trailers, a full train will usually have four motor cars that will cause the jolting on the couplers you mentioned.
The issue on the C stock that makes it seem worse is not only the build quality but as you mentioned, the stock formation, on other stock there is one wedgelock between the two units forming the train, with more rigid semi perminant couplers elsewhere.
You can make it a less jerkey ride by some careful drivng, but since the RPAs on pre D78 stock are not linked in any way other than the CBTC commands, it can be very hard when it picks up if you're already in Paralell.