Tarantulator with 7 exo legs is about the same speed as Spidertron with no extra legs. The wavy movement it does after travelling in one direction for a while might be wasting some of the speed from the exo legs.
Changing some numbers in data.lua helps with the speed. The longer legs get a movement acceleration of 0.25, and the short ones 0.025. This makes the Tarantulator veeeery slightly slower than a Spidertron with an equal number of legs, and also preserves the unique leg movement and a tiny bit of the wobble.