First mass electric car with all-wheel hub motors has no brakes or CV joints
(www.notebookcheck.net)
The key thing for a smooth ride is minimizing unsprung mass (I.e. the mass not supported by the suspension). This mass needs to be able to bounce up and down quickly as you go over bumps. More mass means stronger suspension.
See videos like this… https://www.youtube.com/watch?v=pu0-CUAs0jg
Wheel hub motors have been around for a while but they have always had ride problems.