2005 TL, automatic, 6500 miles.

I have been noticing a jerk when going from P to R.

This happens frequently. I took the car to dealer and they say it's normal. Tech says it has to do with "delay shift".

I believe $35k brand new car shouldn't jerk like this at all.

Your inputs plz...

 

not sure, I've got the 6 speed...but that doesn't sound right.

Get a second opinion from another dealer.