Thank you, I'm relieved!
I'm the original owner of an 04 V6 limited and this is how my vehicle has always operated. :humble::humble:
The “jerk” you are feeling is normal when shifting between gears when the engine isn’t at operating temperature. When the engine isn’t at operating temperature your engine rpm will be almost twice as high vs when the engine is warmed up. This causes the jerk feeling when going between gear selections. The higher rpm’s combined with the ring and pinion backlash in the differential can feel kinda jarring, but it’s normal operation.
If you are experiencing harsh shifts between gears (1-2, 2-3, 3-4) then you probably need to adjust the line pressure cable for the transmission (commonly called the kickdown cable incorrectly).
I'm the original owner of an 04 V6 limited and this is how my vehicle has always operated. :humble::humble: