[mactec54]

G0 X10 Y5 Z1

End program.

THAT move is one of the most critical to need jerk control. There are no curves, corners, no arcs, no look ahead involved. Just some simple math.

Path smoothing is handled entirely separately by the control.

That novice program example is as crude as it gets.

Does not have to be the control at all, it can be done in the servo drive