Why does my car jerk when accelerating or when I turn?

I have a 1999 Ford Taurus SE. I just got an oil change. The next thing was to change the spark plugs and wires.

STUPID OIL CHANGE CENTER used the WRONG steering fluid and your steering sensor is polluted! Use ONLY MOBIL ONE 0W-30 oil in that engine EVER! NO VALVOLINE o\and NO CEILING OILS either! NO BARGAIN SPECIALS at all! <<TAKE $20-30 to the oi lchange place and have them REMOVE and CLEAN up your IDLE AIR CONTROL VALFVE and THROTTLE BODY to SHOWROOM CLEAN! The final amount of AIR entering your engine is fine tunes HERE! All FORD engines have removeable ones for CLEANING UP! USE PENNZOIL ULTRA OIL for a 15 year 500k mile WARRANTY against engine troubles! DO NOT change wires ( your engine doesn't have any anyways) but you CAN use BOSCH or DENSO IRIDIUM PLUGS for a bit more power and mileage! YOUR ISSUE is NOT PLUGS or WIRES< but a dirty IAC VALVE fro musing CHEAP or NOT RATED oils! Ford has SPECIAL NEEDS for additives to keep engine clean and working efficiently! MOBIL ONE fulfils those needs! So does AMSOIL, PENNZOIL ULTRA and PLATINUM< and other oil you never heard of! PLUGS last for 100k mile now! HAVE to to meet government emissions issues! Your steering fluid should be BRIGHT RED and is DEXRON< formerly TYPE "F" fluid! READ MANUAL! Once IAC valve is CLEANED UP the engine wi idle correctly and the steering will not flounder if FLUID is correct type! DO NOT USE CHEAP OIL us ONLY MOBIL ONE or PENNZOIL or AMSOIL lin there! MOBIL ONE 0W-30 is the EASIEST to find and use! CHANGE IT ONCE A YEAR! It PREVENTS your sensor from getting FOULED and extends All facets of auto system life! TRUST ME! HAve TAURUS cars with ULTRA HIGH MILEAGE! Noen used PRESTONE or VALVOLINE in them and nether should YOU! FULL SYNTHETICS are REQUIRED for best efficiency in nearly All CAR TYPES!

You had someone do the oil/filter change?

i'd check around the oil pan and filter location for any loose electrical connectors. Like an anti knock sensor connector.
throttle deflection and turning the steering wheel via the idle up circuit, both make the engine raise in rpms. Anti knock issue would cause a slight hesitation.
so might an intermitant crank position sensor connector issue(app)
could have the trouble codes retrieved. If the computer deems this an intermitant issue, the CEL/MIL lamp maynot be lit, but the computer should have that info stored.
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doesn't make sense iffin you went to a LOF-lube/oil/filter, place and they didn't check trans fluid. They love doing that. Gets you to buy more services.
but those monkeys only get paid peanuts. So…

If only Harley Dave knew. Ignition wires gain electrical resistance as they age. Motorcraft ignition wires are terrible! Replace them with Taylor or AC-Delco ignition wires. Your Motorcraft platinum spark plugs are only good for 50,000 miles as well as the Motorcraft ignition wires