07 Ford Taurus jerking when accelerating after stops?

The car was jerking after being warmed up, and then I would be at a stop light. After accelerating, the car would drive normal, I'd watch the RPM's increase to almost 3 and then a hard jerk and then it kept going. Added Lucas Trans Fix and the jerking stopped but not the RPM's go past 3 and it shifts but sometimes makes a grinding noise. The Check Transmission light comes on after idling for a bit. Any idea what could be wrong?

The transmission is shot. Done. Kaput. Lucas is good stuff but there are limits to what it can do. That particular transmission is rather notorious for failing.

Check the fluid. It might be low or needs to be replaced.

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