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2009 dodge caravan shifts jerky at low speed

I have a 2009 Dodge Caravan STX. It has about 34K miles on it.

When cornering at low speed, the transmission shifts “harshly” or “jerky”. We had it into the dealer, and they did a TCM software update that seemed to improve things a bit for a time, but now (about 5K miles later), it’s right back to where it was.

I searched this on the internet, and it seems to be a common problem for this vehicle. The dealer tells us everything is fine and nothing can be done, but I don’t trust transmissions that shift with a “clunk” – that can’t be a good thing over time. Any suggestions?