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19' TLX V6 Transmission jerk switching from Reverse to Drive

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Hi,

I have a 2019 TLX Aspec SH-AWD with barely 2000km on it, but I noticed there's a significant jerk when I change the gear from Reverse to Drive. It happens without me even touching the gas. With the Brake Hold on, it's a lot less noticeable so that helps a bit but it's really annoying otherwise.

Is this normal? I'm not sure if this is something worth showing to the dealership. I should mention that this car has the right door harness replaced a few weeks earlier but the jerk issue has been there since day 1. I'm just trying to get other opinions before i bother with the service center. TIA

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