I now have a longitudinal, Lateral and z axis force inputs outputting to my 2 motors via the jrk's and it is working sweet. You will notice from my next video that the movements are quite smooth. I have it set up this way intentionally. I prefer it less bumpy. I will try and get a video up later.
BIG BIG THANKS TO THE DEVELOPERS of this software and all the people on this forum who inspire people like me to have a go at building what all of us would have dreamed impossible as a kid.