I own a 2000 tundra 4.7L 4wd, pretty much every time i shift it in reverse it jerks hards and sometimes going from 2nd to 3rd it will jerk u back pretty hard depending on how much throttle i give it, does that mean my tranny is going out?

Usually, it is a line pressure issue in the valve body or shift solenoids. When was the last time you did a 4qt ATF drain/fill?

Treat your ATF with Auto-Rx. It does a great job of dissolving solids and holding them in suspension to be drained out. Several members here have had excellent results with it -- me included.

Link to puchase in my sig below.