My 300TE 4matic jerks whenever it changes gears (even in R).I have changed the transmission fluid and filter,problem still there.Anyone
knows what's the problem ?

Maybe I'm going out on a limb here, but have you checked the engine and transmission mounts?

Alex

You may want to check for vacuum leaks, this could cause hard shifting. You might also need to adjust(or replace) the modulator valve.

Ken