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Unless it's more severe than what that video makes it look like, I wouldn't call that a "jerk." Mine does (what appears to be) the same thing, and it's not anything I would call a "jerk." It's just the torque moving from the reverse gear to the forward gear (or vice versa).
If you're getting excessive bump during that shift, it could be that your idle RPM is too high, or maybe the trans fluid could do with a changing.
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