I tried moving the feed rate to a different line ahead of the code, and I increased the acceleration as high as I could get it before the steppers would skip steps. This reduced the hesitation, but not completely. To me, if the motion is to be linear, it shouldn't matter if there are a number of lines code to get from point A to point B, with look ahead, the motion should be absolutely smooth. I can't figure out why there are these little hesitations.