2020 toyota tacoma jerks forward when I go from park to drive and reverse

I had my wife take a video of the lurch. We couldn't see it from the video, but could feel it from inside the truck. I went to the dealership to test drive a 2023 tacoma, and it was a lot smoother. I will take it back in and have them check it again. Maybe the transmission control module? I will ask.
Thanks

 

Sounds like the dealer is making alot of money on this warranty of replacing parts.just saying

 

Don’t let them get the parts cannon out again this is one of the reasons our trucks cost so much. I agree they are making money and ripping off Toyota.

It might be a good idea to call corporate and report this dealer. They probably reported the TC and transmission as faulty. IMHO