Misfiring cylinder..."most likely" suspect is one of the 8 coils over each spark plug... C.O.P. ignition...(coil on plug) see mechanic to find out which one and suggested repair! Due to the nature of this engine for spark plug removal proceedure, plug replacement is NOT diy! And it needs that too!
You need to be more descriptive in your truck's "jerking" problem. I had the same issue in my Limited 2007 Expedition, but it was not just simply "jerking". If your truck act like that regularly, and you feel that engine is not running smoothly and the engine check light is on all the time, then the other's folks advice is pretty reasonable, however...
If your check engine light is NOT on, then most likely there is nothing wrong with the engine. What else could be wrong? Only the transmission and/or belts. And here is why:
With "jerking" probably it feels that your truck does not have any torque or power when accelerating from about 30-35 to 50 and up if you press your gas pedal hard enough. if you do press it gently and very slow - does it still "jerks"? Probably not, but gaining speed super slowly and not more than to 60 mph, unless on downgrade. with all similar symptoms it is most likely transmission and/or belts. IF transmission oil has not been changed for a while or at all yet and neither any of the drive belts, try to do this necessary maintenance before getting into much more expensive repairs. For example, I had the check engine light on with the code of P113 that stated MAF sensor problem. Instead of spending anywhere between $60-$160 on replacement of that sensor, I first spent $8 on special MAF sensor cleaner, took the sensor out (watched Youtube - it is the easiest DIY even for one's grandma if she knows how to hold a t-type screwdriver) and sprayed it clean for about 10-15 seconds. Let it dry for about 10 min, put it back, reset the error code with the special computer and bingo - not only check engine light has not came back ever since (and it has been over a month now), but also gas usage improved by about extra 2 miles per gallon. So my advise - do need maintenance and see if it solves the problem. IF not, then you go to a mechanic. However, before you go - get yourself one of those error code readers (online a reasonable one costs anywhere from $20 to $40) that can also be used while driving, see if it generates any codes then research forums for it and then if you still don't have any clues you go to a mechanic, but with facts (error codes). It is your hard earned money and your favorite car. You know what I am talking about, right?