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Question: Why is my car jerking?

I just purchased this car and drove it for a week with no problems up until the last time it was parked. Now when I get in to drive it there is a hard jerk when shifting from "park" to "reverse." The jerk isn't as bad when shifting from "reverse" to "drive," but once I start accelerating it jerks hard when upshifting and downshifting. I checked the transmission fluid level and it wasn't low, then I drained it and added new fluid with no improvement. Then I changed the transmission and motor mounts, still no improvement. When I had the car on jack stands I put it in "drive" and it seemed the passenger wheel was spinning slower than the driver side wheel. The car is front wheel drive. The jerk is so bad the car can only be driven at low speeds, it has 170,000 miles. There is only a check engine code for an oxygen sensor. Thank you in advance.