jerky transmission from stoplight

I have a 96 Taurus with similar problem. After driving it for 20 minutes or so it starts to slightly jerk when moving from a stop and then drives fine. About another 15 - 20 minutes it really starts to jerk or lunge into first when you push on the gas.

I called around and got the word that it's some aluminum valve that needs to be replaced, $2,000 (mostly labor) or buy a rebuilt trans for about the same. We liked to get if fixed and drive it for another 2 years before buying a new car.

On another note, there is a "anti lock brake" light on the dash that seems to stay on. Sometimes it goes off. Last time I had the brakes serviced the guy told me the brakes are fine and I should take it to the dealer to get them to fix the light.

Any ideas or suggestions?

I used to have a 1990 Taurus 3.0L that had a similar problem. I'm not sure how different a 1990 would be compared to a 1996, but I replaced the engine mount on the passenger side, and that fixed the problem.

Check trans fluid level when hot. Make sure the level is right. The shop answer of r&r is common these things are too complex to just fiddle with.
ABS has codes like the engine. These can tell you where to look. Otherwise ABS is beyond the scope of most diyers