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Or is this it and the limit to reach the smoothness lies in the controller?

yes and no: it's a result of the way fanuc_driver and fanuc_driver_exp command motion and how the controller works internally.

I've written about this before, and my understand of how things work has not changed, so if you're interested you may want to search for older Q&As about this, both here on ROS Answers as well as on the ros-industrial/fanuc and gavanderhoorn/fanuc_driver_exp Github issue trackers.

Now I wonder if you have any suggestions if there is anything else to try to enhance that motion?

Unfortunately not with the current implementation of both fanuc_driver and fanuc_driver_exp.

If smoothness is a requirement for you, you may want to look into alternative ways of controlling your Fanuc. Either a full-blown post-processor-with-upload-of-trajectory (like InstitutMaupertuis/fanuc_post_processor) or something else entirely. There is work underway to integrate with Fanuc's new J519 (Stream Motion) option (ros-industrial/fanuc#247), but that has not been released yet.