The backing up to get it out of 4 wheel drive is pretty common and for the most part is normal, if you use the the 4 wheel drive a lot is problem becomes less of an issue, as for the lurching what has most likely is going on is the u-joints in the front axle shafts have stuck this is also because the 4 wheel drive has not been used very much, the way the 4 wheel drive works on this model is when you are in 2 wheel drive the front wheels just freewheel but when you put the truck in 4 wheel drive you not only engage the transfer case but also engage the front drive axle which in turn locks the front wheels to the front drive axle. if the truck spends most of its live in 2 wheel drive the front axles just sit in the same position and tend to rust in place so then when you put it in 4 wheel drive the front axle shafts have to start turning and it takes a few miles to get all the lube moving in the front end, if the lurch does not go away in a mile or two take the truck out of 4 wheel drive and have the u-joints checked in the front drive axles.
i would not get to worried about it until i drove it a little will in 4 wheel drive to get all the lube moving, by the way in 4 wheel drive when making hard turns the front end will buck or shake and this is normal the 4 wheel drive is great for going in a strat line but not so great going around a corner just remember it is a 4 wheel drive truck not an all wheel drive car two totally different systems that are not at all alike......good luck
let me know if there is any thing else i can do for you.
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