Vehicle Surges on 2002 Honda Odyssey

Vehicle jerks when traveling at a steady speed ( speed varies). On start ups, it surges. No lights have been displayed on dash.

2 answers
I would check the basics i.e. tune-up condition of the spark plugs, filters, throttle body etc. There still may be some pending codes that have yet to set a light. At what steady speed are you traveling?
Check EGR valve