Can’t check my settings now but this is what you can try:
give a freedom to move of about 60-90 degrees
set Angular Position Velocity to 10
set Angular Position Strength to a 1000 and raise by x10 increment until it becomes too stiff, then lower it by x5 and etc.
when you find value for Angular Position Strength that you like start raising Angular Position Velocity by small increments to remove wobbliness of suspension
Yes you would need more torque or higher gear ratio to pull heavier track and sprocket. Multiply it by 10 and see how it works.