Jerking into 2nd gear

2000 chevy s-10, 4.3l, 160,000kms.

When driving around 100 kms/hr for a while and then coming to a complete stop, accelerating again, the truck jumps or jerks going into 2nd gear. After that, all other gears shift smoothly but will always jerk or slip into that 2nd gear after a stop. I'll stop the truck and notice that there's some play in the driveshaft. I can move it with my hand. If I shut the truck off and go underneath again, chances are that the drive shaft will have no play and is tight again. After that, it shifts smoothly all the time. Always happens after a small highway trip. Had the universal bearings replaced and it is still happening.