This study examines the effect of multiple lubricated imperfect long and short bearings on the performance of a multibody mechanical system. Unlike the typical assumption of a single perfect or imperfect lubricated joint due to modeling difficulties, this research considers the practical impacts of clearances in multiple joints. While unlubricated joints generally cause significant performance issues, lubricants reduce these effects, creating more localized peaks. The findings show that as the number of lubricated joints increases, both the magnitude and frequency of these peaks rise. In systems with multiple journal bearings, torque peaks become more noticeable due to the additional degrees of freedom introduced by the clearances. These degrees of freedom amplify acceleration, leading to higher lubricant reaction forces, which in turn require greater motor torque peaks to maintain the system's kinematics. Shorter lubricated joints exhibit more severe peaks than longer ones, mainly due to side leakage causing axial pressure variation and reduced damping capacity. The study highlights the need to replace idealized joints with imperfect ones for more accurate modeling of practical systems. © 2024 Elsevier Ltd