Slightly jerking at a stop

When you say it is lurching do you mean that it feels like it is moving? Like when you are sitting still the vehicle will lurch forward? Is this coming to a complete stop or are you already at a complete stop when this happens?

I have seen a few of these vehicles and other vehicles with the 3.6L and the 8 speed transmission where they have a bump stop. It is normally coming to a stop and the issue is the torque converter but that is a single bump. It feels like someone is bumping you on the rear bumper.

However, if this is more like a misfire when you are sitting still, does it go away when you put it in park?

here is a guide that will help with misfires:

https://www.2carpros.com/articles/engine-misfires-or-runs-rough

Let's start with clarifying this and we can go from there. Thanks