Hi guys
After a lot of more research, it turns out that there is a conflict between the Servo and SoftwareSerial libraries and the jittering servo is a well known issue. So I found another Servo library, but now I cant seem to install that one to test :0
Wow, I feel like a noob, but no matter where I put the PWMServo library folder, I get the error PWMServo does not name a type. Here is the library for those who are interrested: