I have an automatic 98 Camry v6 with 176k miles. In the last thousand miles or so it started jerking when the engine was cool, and at low rpm (usually only when at a light or stop sign). If I put it into neutral or park, it doesn’t jerk. Once the engine it warmed up, it doesn’t jerk at all.
You should have the transmission checked for fluid leaks and there is a solenoid somewhere that regulates the flow of tran fluid. Apparently on Automatics and standards… Though I just did a search. Wherein it only happens while the trans is cool and as you mentioned not in drive. So as the trans fluid is warming up the symptom goes away. You should also be aware that your tranny might require factory trans fluid and have that verified!
That’s a good thought. Any chance it’s the injectors, fuel filter or idle air control? A few similar situations on the interweb have returned those suggestions.