Jerks when going down the road. - 2002 Ford Explorer

2002 Ford Explorer Workshop Repair Service Manual PDF Download

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When you say it "jerks," this description could fit several actual symptoms. If by "jerks" you mean the engine misfires, it could be caused by the need for a major tune-up (including plug wires and distributor cap), or it could be a problem with fuel delivery, contaminated fuel, or defective components in the fuel system.
I assume the CHECK ENGINE light is on (and has probably been illuminated for some time now). Begin by doing a readout of the stored codes, and use the results to begin your diagnosis.
If by "jerks" you mean the transmission is slipping (engine revs but car slows down or doesn't accelerate), you have a transmission issue. If the transmission fluid and strainer/filter have not been replaced within the past 5 years or 50,000 miles, have a complete transmission service performed.
If by "jerks" you mean that the steering wheel wobbles or pulls, you have a problem with the front suspension.
If by "jerks" you mean that the car shudders or pulls when you apply the brakes, you need brake work.
I think I covered all of the "jerks." ;)

sounds like its not getting enough fuel check your fuel regulator and when was the last time the fuel filter was changed. it is feeling like a learner driver going down the road for the fist lesson..?

Look for vacuum lines of and might be time for a tune up. Plugs, wires

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when motor cold it will rev up around 2000 then drope down

CHANGE THE TRANSMISSION FILTER AND TRANSMISSION FLUID IT,S SLIPING TRY THIS BEFORE YOU DO ANYTHING ELSE

thorque steer check, eng and trans loose or broken mounts, eng aligment make sure eng is not sagging

Bucking and jerking --EGR Valve

Explain how a chain driven transfer case, could slip!

did you ever consider your catalytic converters?

sounds like you need the steering and suspension checked for the jerking while driving. And for the gauges i would have it checked at the dealer may need to replace the IPC (instrument panel cluster)