Just wanted to provide an update for yall-
Took it to a highly rated local shop to get a second opinion, and after 5 mins they were able to solve the issue. So the tires on the rear are worn down a little more than the front, and when the trucks in auto 4wd, its causing the fronts to speed up to match the rear, which was causing that “jerking” feeling like a misfire. Tech told me he thought it was a misfire too until he really drove it and hooked it up to their scanner. When put it 2wd its as smooth as can be. Honestly I never would’ve though that was the issue.