I've discovered that after the truck has been sitting a while, Shift into drive and let it coast for a few feet( it redistributes the oil in the trans) then slowly accelerate after. The jerk is either really mild or totally gone, depending on how long you coast. I usually just coast out of the garage and another 10 feet and usually there's no jerk. I plan on getting the TSB done to fix this when I go in for my first free service.