I had this same issue happen to me this week. 2024 Sierra 2500HD with only 170 miles on it when it happened. I was just driving along when I received a Service ESC message followed by a Reduced Acceleration warning on the center display. I also had the forward collision, traction control and check engine lights come on. I also noticed the shudder/jerk that the OP mentioned, but I only had it when coasting to a stop.
After parking my truck for a few minutes, I started it again and all the warning lights and messages were gone except for the check engine light. I took the truck for a short drive and it seemed to be back to normal.
The only code that was present was P060C. According to the myGMC app, my truck is up to date with the N23-240810 update installed on 6/2/23.