It sounds like the transmission is having an issue like the torque converter is not releasing until the last minute, let's run the codes to see if any are stored.
https://www.2carpros.com/articles/checking-a-service-engine-soon-or-check-engine-light-on-or-flashing
Also, it would help if you could upload a short video with your phone of the problem so I can see what's going on. You can upload it here with your response. To help with the testing can you slip the vehicle into neutral when coming to a stop to see if the jerking goes away, please? Please let us know what happens.
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Monday, September 18th, 2023 AT 3:00 PM