Odd Hesentation/Jerky from a stop

In my 00 tunrdra when leaving from a stop light sometimes the truck is kinda jerky it almost feels like somoeone has rear ended you, but no one has. it is only when leaving from a stop and it doesent happen all the time i will attempt to record a video of when it happens for yall to see. Do you guys have any idea of what it might be, and how I could fix it?

 

U joint maybe?

 

Telescopic rear drive shaft. Make sure the DS is lubed good.

When yo step on the brake, the DS collapses because of the rear axle rotation. When you let go of the brake, it extends. Some times the DS will stick, giving you that " bump from behind" feeling.

It's pretty common.

 

Bingo. Just dropped my truck off an hour ago for the same reason. Greasing the zerks was a temporary fix.

I would bet the OP is having the same problem.

 

Thank you all so much I will look into it.