Jerking about every 4 minutes while driving down the road.

Would your fuel cap or breather on fuel tank be blocked

If by "jerking," you mean misfiring, you need a tune-up. If by "jerking" you mean vibrating, you likely have a worn CV joint or bad tire.

don't spend money guessing
have the fault codes read first then fix what is indicated
could be an EVAP problem not venting the tank
could be a camshaft position sensor
could e a failed cat converter locking the exhaust

Sounds more like a clogged catalytic converter or exhaust than a bad fuel pump.

How To Test The Fuel Pump 1990 2000 3 0L Ford Taurus
You are on the right track in replacing the fuel filter. Not enough fuel is getting to the engine. It could be a number of other things ... bad fuel pump or dirty injectors to name a couple. The link shows how to check fuel pressure ... which would tell you if the things like the pump are bad.
Might try some fuel additive injector cleaner to the gas tank to see if things improve ... relatively easy.
If it is the fuel pump or other fuel supply problems ... those are harder to fix

This problem is commonly caused by a dirty automatic idle speed control valve and throttle valve. Buy a can of throttle valve cleaner (do not use carburetor spray cleaner!) from NAPA or Carquest (made by CRC chemicals) and spray it into the air intake while the engine is running, use up about 1/2 the can, engine will try to stall hold the speed up, shut it down and let it soak for 30 minutes, restart and blow out the remaining fluid, shut it down and disconnect the negative battery cable for 5 Min's to reset the base idle control

sounds like the tcm is trying to fail..but lets 1st start with a simple reset...disconnect the neg term and let her sit for 30-45 minutes...also have the ****** flushed asap,and then take it to jaguar and have the latest software upoloaded ...ZF has a new software for this jerking issue...

Could you please contact me 0624871880

change sparkplugs and wires

are you sure its not a certain road condition or certain area of road that you drive everyday and only notice it there to have a problem?road crown and abnormalties can cause very crazy problems and nothing wrong with car