Your standard MIDI CC message has 7 bits of resolution, or 128 different values.
Depending on what you are trying to control, you will hear stepping because there is simply not enough resolution to make the change small enough.
In reality there is always stepping, but as the resolution increases, so is the difference between the steps, to the point where you cannot perceive them with your ears anymore.
Let’s take your filter cutoff as an example:
If your plugin allows you to adjust the cutoff frequency between 1 and 20kHz in 1Hz increments that is nearly 20k different possible values for the filter cutoff.
Your 7 bit MIDI CC can do 128 different values with 0 being the lowest and 127 being the highest. For every change of the CC value by 1, the filter cutoff needs to change by about 156 Hz, assuming that a CC value of 127 equals to a filter cutoff of 20kHz.
I don’t think you can do it with the Syntakt but the MIDI standard supports 14 bit CC messages which would allow values between 0 and 16383, but even with that you would get about 1.22 Hz change of your filter cutoff for every change of the CC value by 1.