When shifting gears(auto), there is some jerking motion. Shifting isnt smooth.

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During driving and when the gears are shifting, there is some jerking motion. The shifting of gears isn't smooth. The problem occurs consistently. I tried changing to premium gas but still the same issue. The vehicle went through a complete service at 72,500 miles recently (air filter, cabin air filter, oil + filter change, coolant etc.) but the problem still exists. Vehicle details: Auto transmission, AWD. The vehicle has 74000 miles on it.