RBD - mixing keyframe animation and simulation

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Hi everybody!
I have a trouble mixing keyframe animation and simulation in a car crash scene.
I have tried either with Active Value node + OBJ Position DOP or with RBD Keyframe Active node, as written in the SideFX page about this topic.
However, with the first one the dynamic looks good, but the animation starts to shudder quickly 10-15 frames before the active value is on (on the channel editor the keys are on “constant”, not “bezier”).
On the other side, If I use the RBD keyframe active method, the animation looks good, but the dynamics became crazy, like it doesn't recognize the physical parameters I put on the RBD object.

Any suggestion?
Thank u!
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