My 2006 Infinity G35 jerks when put on reverse when engine is still cold?
Lot of possibility’s, but since your engine idles at a higher RPM cold then when warm (normal) you may feel it more, I would check motor mounts…
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Maybe cold engine idle rpm is higher than it should be. Ask shop to measure and compare to spec.
I don’t know if it jerks or not so why are you asking ?