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Ray-marching Epsilon

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I am trying to figure out how to get my edges on my signed distance functions to be a little less glitchy.  Anyone with any experience in this, not really a BJS question but a math one.  Ive been messing with my step dampening and epsilon, but cant seem to find the magic setup.

I was able to make it crisper with :

But then it seems to just be to jagged in the distance.  So I am wondering if anyone has any input on how to smooth this, maybe do a distance calc to the camera for that position and then increment up the Epsilon normal as it get farther from the camera?

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