I don't think that is what the OP is describing, and isn't what I am.
I almost have to try to get it to jerk, it happens when I am already moving and the transmission is moving up the chain. In the first few gears if I am very light on the pedal I can get what some could describe as a jerk - it feels to me that the system is searching for the right gear and/or is going too fast to get to the next gear. Which is exactly what I have seen some reviewers say.
This is one of them I have read that describes it. Notice just as I find, using Sport mode stops it from happening, furthering my thought it isn't a hardware problem but a firmware one.
"An aggressive fuel-economy calibration in the default Normal powertrain drive mode makes the transmission stingy with its downshifts, adding to the gawkiness." ........ "Sure, engaging Sport cures the transmission's programming ills ,,,,"
2022 Hyundai Tucson First Test: Awkward Beauty (motortrend.com)