Sometimes my car jerks while I'm driving and it's anoyon on 2011 Nissan Altima

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Not all the time it happens service engine soon light came on still on happen two weeks ago car was jerks t h en it stopoed
(2) Answers
(2) Comments
bad sparkplug or coil
Have it scanned to see why light on.
Just wanna have an idea I was told it might be the crankshaft position sensor because the car runs fine just that problem
Possible still covered under warranty.