Mine's doing the same stuff. When changing gears on the spot back and forth, I can feel the car moving a little. One shop told me that it's probably something to do with the transfer case. I know from history that at some point this car received a used (refurbished) transfer case.
I also get the 2 - 1 jerk sometimes.. I noticed it's felt much more once the car reaches normal operating temperature.
I'm currently at 352k KM and I scheduled it's first gearbox service (oil + seals)..hopefully it doesn't die on me after that. Although I was told that if the shop finds out that the gearbox is already too worn, they'll abort the scheduled maintenance..