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Most dealers repair operations are not to be trusted. They make the brunt of their money on repairs and parts and will do and say just about anything to increase business. Get a few more more diagnosis from other repair outfits and then decide.
It is slipping. These big yamahas normally have slipping clutches. Mine slips, I've just learned to baby the clutch. Make sure you are in the most comfortable gear for the speed you are running at. Avoid rolling on full power at low speeds in higher gears. It's the nature of these great beasts. Clutch springs are too weak in these bikes, you may consider an aftermarket clutch spring assembly. The "shudder"(intermittent slipping) is caused by glazing. Make sure you are using the right lubricants for your bike, some synthetics can cause problems.
1)Adjust clutch cable correctly, check
2)Pull the clutch assembly apart, if there is little wear then you have "glazed" plates, clean each plate with 600 grit sandpaper and reassemble...get a new clutch spring assembly (weakened spring causes "shudder", slippage, and consequently glazing). Reassemble and adjust correctly (many forums out there with info).
3)Replace the full assembly and adjust correctly at setup. Adjust regularly....I check adjustment about every 300-500 miles.
4)Pay a shop to do these things for you.
This may be normal but you can adjust your driving to reduce the impact. To speed up the warm up process of the catalytic converters, the power train computer holds first gear a little longer than normal. This causes your car to get higher in the rpm range than normal, at part throttle, which causes the hard shift. On your first drive, try NOT to accelerate while the car is in first gear--it won't take long for you to learn how far this is.
I am not saying this is the solution or this is the problem but the PT cruiser suffer from code P0344 Which is the cam position sensor which causes misfire, the solution is a reflash of the ECM.But before a reflash the Camshaft postion sensor needs to be verified for working condition and if possible duplicated.Once the Check Engine light does come on you automatically go to limp home mode, This is the drag that you experience,the purpose is to protect the catalytic,in case there was a true condition with intermittent cam postion sensor,You need the check engine light code, then you can go from there.
Check your transmission fluid level on the transmission dip stick while the engine is running. When fluid is low it results in a snatching at gears especially when engaging 'drive'. Add the correct fluid (check with VW on the correct type for your specific car) via the dip stick tube. Do not fill beyond the maximum. If you do not correct this the constant snatching will eventually cause the splined end of the input shaft to shear off and this will be an expensive repair.
Inspect first the automatic transmission fluid. It may need replacing as well as the filer. Observe the jerking if it occurs on certain speed, it may just be an issue within a specific gear. Its valve may be dirty and need cleaning. This may also be cause by bad fuel lines or dirty fuel filter which causes inconsistent flow of fuel. Check also the engine support and mounts of the engine and transmission. They may be worn out. The jerking could be from the actual **** of the engine because it is not held in place correctly.