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Hey I’m experiencing this problem. My 2015 v6 gas jerks. It happens periodically only when decelerating. When decelerating down to 20-35km/h and then I press the gas to accelerate again it jerks trying to find what gear it should be in. Any ideas?
Try & describe the fault better than "it jerks" What mileage? VCDS has a gearbox reset option & may have a fault code logged. A low speed momentary loss of drive could be a transfer case issue rather than the gearbox.
 

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If you are sure it is the gearbox then I would renew the ATF & scan with VCDS. Then if no improvement it would have to go to an auto transmission specialist.

Earlier models, 6 speed, suffered with valve body & solenoid issues and yours sounds similar.

You seem to have several threads with similar issues. Did the transmission warning come back? or the vibration from the rear? Did you manage to drain & replace the oil in the diffs?

What have you tried so far?
 
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