Hard shifting/jerk when decelerating

2005 Tundra SR5 4WD 285,xxx miles
Vehicle was parked for about week. Wife drove it to the mall and on the way back, she said the truck jerked a few times. Got a chance to drive the truck after another week of being parked. When decelerating, the truck shifts hard from, what I assume, 3rd to 2nd and even harder from 2nd to 1st (coming to a stop). The whole truck shakes. So far this only happens when decelerating in D. No issues when decelerating in N and accelerating normally. Haven't tried accelerating at WOT.
Before this, the truck ran great. The transmission fluid looks good and is full per FSM instructions. What else can possibly cause this? Bad shift solenoids or torque converter?

 

Before tossing out possibles, it may help for others to know: Any codes stored/check engine light?

2005-2006 use on-board LED for the light, so it can't burn out.

 

Sorry, forgot to mention there is no check engine light. I haven't had a chance to go to the autoparts store to see if there are any codes. Will try later today.

Update: went to O'Reillys, they pulled the codes: C1241 - low or high power voltage supply
C0215 - rear speed sensor LH circuit
C0210 - rear speed sensor RH circuit

Then went to Autozone right after and they pulled no codes. Maybe the codes got erased at O’Reillys.

Took out the rear ABS sensors and cleaned them. The passenger side one had some oil. Resistance showed 1.117K ohms. The driver side sensor was dry and clean. Resistance showed 1.128K ohms. Reinstalled sensors and checked resistance at the first plug near the rear axle breather. Both sensors showed 1.114K ohms.

Positive battery terminal connection was slightly loose. Cleaned both battery terminals. Let the battery disconnected for 30 mins. Battery voltage showed 12.87v. Reconnected battery. No CEL or ABS lights. Truck has an AGM battery about 2.5yrs old. Never had any issue starting or power problem. Test drove the truck and the issue still persists. The drivetrain jerks when the truck downshifts from 3rd to 2nd and 2nd to 1st. Feels like the car is getting hit in the rear.