Looks like the sensor is a simple float mechanism.
I had one in a VW that was erratic - the float was cracked and partly full of gas. Since this isn't jumping around, I'm going to guess bad ground on the sensor, or go with @plplplpl for loose or corroded connectors.
I think odds are better that the hesitation is something else, instead of linked to the gauge problem, but there's plenty of Real Mechanics here that should enjoy this puzzle.
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