When I put the car on reverse gear, there is a noticable jerk (jolt), but while driving on reverse there are no issues. Is this common for Ford Taurus.
Putting reverse gives a jerk. on 2003 Ford Taurus
I'm not familiar with your specific vehicle, but some things that can cause this are a high idle speed, worn or broken motor or transmission mounts or low transmission fluid level. If all these are ok, then you can look into flushing the transmission fluid and replacing the filter.