Transmission has a little jerk when changing gears

Greetings,

My car sometimes gives a little juck when gears changing and hold lights comes on and flashing on dash board.

My local auto electrician scanned and detects No errors, he also open and checks the ECU, found a little corrosion on two transistors but problems remain same.

My local mechanic still trying to figure out the reason and solution.

Best Regards,
Mark