Jerk When Accelerating After Stopped/Slowing Quickly

My 2018 Taco, rear-wheel drive, I4 has jerked a couple of times when I accelerate after being stopped or slowing down quickly. For instance, when I come to a stop light and it turns green before I come to a complete stop and I begin pressing the gas again, my truck will jerk like it's slipped or something.

Any help?

 

Axle wrap

 

Nature of the beast, or only affects some?

 

My gen 3 doesn’t do it

Gen 1 been doing it for 37k miles

 

It’s the mapping of the transmission. Everyone has it. (Those that admit it) I have it. It’s been to the dealer already. They claim it’s normal. More noticeable when it’s cold outside. The first time I thought someone goosed me from behind. The only way to over ride it it to buy the programmer. Plugs into your truck brains and remaps the shift points. Several brands available. Pick your poison.