2004 ford taurus problems?

I have a 2004 Ford Taurus. I'm having jerking issues with it. I can drive it to a couple of places around town, then once I stop at a stop sign or red light it start to jerk. It want jerk while I'm driving. Just after a stop. Then check transmission light come on. I know it's not low on fluid, and the fluid is not dirty. Can someone please help with this.

Sounds like a cylinder misfire have a mechanic read the codes and diagnose the problem

Torque converter clutch solenoid not releasing. Google 2004 ford Taurus torque solenoid location. Unplug it and see if the problem goes away disconnect this As soon as possible. The problem should go away. If so good then have a good transmission shop replace the solenoid.

I took it to AutoZone the code p0732 came up on the scanner.