This isn't going to help, but...
If your contract simply said "tighten floor joists," that's all they're obligated to do. If they tightened them and it didn't help the problem, well, they did what was asked.
The contract should have made removing the creaking from the floor as a condition -- like I said, no consolation, but that's your answer, IMO.
You ca get your lawyer to write an angry letter or 2 to try to get some movement, but it's an up hill battle for sure.
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