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My dumb baby way of securing the tracks was to add a large unpowered wheel before and after the small powered ones, secured to each other + the structure by braces. I also found it useful to replace some or all of the armor plates with friction pads.
Also a single medium cog works better than 2 medium wheels.
I use numpad 4 and 1 for the left track, and 6 and 1 for the right.