The car jerks when the speedometer reaches 20 mph cold and 40 mph when the engine is warm. Additionally, all of the lights on the dash will appear for a second. This happens when accelerating and speed gets to 20 or 21 mph. Once the engine is warm, the jerking will not occur at 20 mph it will happen infrequently around 40 mph. The ESP malfunction light wasn't coming on initially, now it is coming on whenever it jerks.
SOURCE: Car 'jerks' while pushing accelerator.
take it to a shop and have them run a diagnostic on it so you know for sure whats wrong whether its the trac control or the transmission
SOURCE: my car is jerking while accelerating and reaching certain RPM
I would look for a fault in the ignition system such as a cracked spark plug. Might need a scope check to put your finger on the problem
SOURCE: my car is jerking while accelerating and reaching certain RPM
clean mass air flow sensor check for mil light
SOURCE: 2004 Audi A4 1.8 - jerks/jolts while accelerating from 0-20 mph
It sounds like there may be an issue with your ignition system.
Check the ignition wires, distributor cap, spark plugs.
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