2004 Ford Taurus Engine does a quick jerk

Bought car brand new in 2004 - never a problem. Drives fine, then I drove 20 miles 2 days ago, on freeway- engine does a jerk feeling. Almost like the car is slipping on ice. Then drives fine for another 20 miles, does it again. Then miles later, does it again. Starts out slight, then get harder jerk feeling, only last about 3 seconds. No change in performance, no noise. Yesterday, took it for oil change, & replace fuel filter & a fuel system clean. Drove fine. Today after driving more than 50 miles, engine on freeway - does a jerk again. Just one time. Not while trying to acelerate. Doesnt feel like transmission slipping, no dragging - just a jerk feel - like the car is slipping on ice for a few seconds. But its not ice. Could it be a sensor going bad?