Why does my vehicle jerk when accelerating / shifting?

Hello, an intermittent thing that is corrected by restarting the vehicle is typically not an internal mechanical concern like a seal of some sort. Typically, it's something commanded from data received by the various control modules. I would say this is atypical of this vehicle and should be checked out before driving further. Unless you have an abnormally high amount of mileage for this vehicle for a 2017 model, you should still have some powertrain warranty coverage -- 5 years / 60,000 miles whichever comes first. See your local Acura dealership for what will hopefully be an in-warranty diagnosis and repair. You may have to authorize diagnostic testing first initially, but I suspect you may find the vehicle has coverage.