Car jerks after changing gear

Hello and welcome to 2CarPros. By jerk do you mean it sort of lunges when put into gear but then shifts okay after that? Then jerks again when put into reverse? If so then I would start with a fluid change with an OEM fluid and filter. What is the engine RPM when it jerks? If it is running higher than 750-800 rpm it could make it harsh when it engages.

I’ll get back to you about the rpm. Currently on vacation and left the car bag home. But it really only jerks when I’m moving the gear from park to drive or reverse. Sometimes it will jerk when I’m reversing and switch to drive. I’m not sure if this has anything to do with it but my brakes are also kind of soft? I have to push the pedal far for it to fully engage. But yea, I’ll try the fluid change and everything when I get back.

Like when I’m really gentle and I shift from park to reverse and I ease of the brake pedal super slow it won’t jerk as bad or at all.

Okay, when you get back to it we can continue, hope it's a good vacation. The brakes shouldn't make a difference but the rpm's will. Soft brakes can be for many reasons, a sticking caliper, air in the lines.