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Play with the target minimum and maximum revs in the engine panel, these determine when your driver needs to change gear. My suggestion would be to set Target Max to your engine's max RPM value and the minimum to about 25% below that, to start, and fine tune as you go.
Wider tracks will also make little difference (as of now), keep em relatively thin to save weight and similarly, look into the default fuel tank size and reduce carried fuel as necessary. The latter saves A TON of internal space. If you can get your mass <10t you'll be laughing.
SNJ's on the money with suspension, interleaved wheels make things a lot smoother. Make your torsion bars as soft as possible without your tank losing too much clearance, it'll help distribute your grip better and last but not least! Use aforementioned torsion bars, not the volute suspension (the 2nd type). The latter is great for VERY fast tanks, but its ability to cross trenches is near nonexistent. Hope this helps, been on this mission a long time myself ;>