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I believe I have the same problem. Does your car have Xdrive? I've narrowed it down to the Transfer Case. The bumping/jerking is the Transfer Case engaging/disengaging and the power to the front wheels going in and out. I've found references to updating/clearing/reinstalling the transfer case adaptations using a scan tool. I tried that and it did not seem to fix it, but I may not have done it correctly. I'll try again sometime. I've also found references to servicing the Transfer Case Fluid. I did that and it seemed to help some but did not fix it. The next step I'm going to try is changing the control module.
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