Farseer vs XNA issue (Texture View)

This is the view of my project with textures included.

I have a Farseer issue in my XNA project, regarding physics and car movement simulation i think everything works fine but the display of the movement is choppy like it's a poor framerate issue, but it's not, game has 60 FPS, any suggestions on how to sync XNA update method with Farseer world step?? Some kind of integrating motion equation to make physic world independent from framerate? Thank you in advance for any help or suggestion!

update: this the video of the same project using debug view
http://youtu.be/jrb-hRgqpgU

p.s. choppy movement and car jerks are little more expressed because of the FRAPS, but movement displayed is not far from the truth..

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