Many things can cause this. Well, not that many,. Check your trans fluid level first. If you are long time since the fluid was replaced, over 30,00 miles, I would have it flushed. If you can not get that done for any reason and the fluid level is low then just add some but do it when the engine has been running a while and add small amounts while checking the level till it gets to the right mark on the dipstick.
If it happens in between just 2 speeds and no others then you could have a sticking valve in the transmission. More money than anyone likes to spend usually.
SOURCE: Shifts hard and jerks
replace the vehicle speed sensor,yours probably has metal shavings,or dirt stuck to it.
SOURCE: Shifts hard and jerks under hard acceleration.
thottle positioning sensor? if trans has overdrive could be a lock up piece, dont remember name of it. there is a lucas oil product that might help. if it is the overdrive.
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