Q: Jerking on 2002 Ford Taurus

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My car keeps jerking whenever I shift gears. Sometimes after I've been driving for a while it stops but if not whenever we come to a stop sign or have to park somewhere then start the car again it jerks and stops for a bit (at traffic lights too) and then goes. If we're on a highway though and just driving there's no jerking or lurching. What could be causing this?
(1) Answer
There may be a problem with the Torque Converter Clutch Solenoid System. The use of an Automotive Scan tool is required to perform an inspection and diagnose if indeed there is a problem in that particular system. It would be best to have your local repair shop inspect for diagnostic trouble codes and perform a complete diagnostic of Transmission components.