It's largely an inherent property of the engine. A V6 is not inherently balanced. Neither is an inline 4 cyl, a boxer 4 cyl is.
Straight 6 cyl and 90 degree v8s are inherently balanced also. That's partly why BMW uses straight sixes and refers to a V6 as a bent six.
When u take a motor that's not inherently balanced and give it large pistons and a long stroke (high velocity), it's going to vibrate a lot. You must then add counter weights to smooth things out, but that robs power and increases complexity. They can be made smooth ie NSX, but it's not easy.
I have an M3 and a 335, and they're smoth as silk. Coming from that, the VQ37 feels VERY harsh.
You can't compare the vq37 to the v8 because the v8 is an inherently balanced configuration.
I could explain in much more detail, but I'm typing on my iPhone
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