Hi Guys - I think the general consus when these issues start to occour with Tip Boxes is to begin by doing an oil change on the box - along with the filters..
An ecu reset might also be useful - (disconnect the battery for - I think it's 45mins, some please confim?)..
Then once that all done - take the car for a short spin, see what's what - if problem persist check error codes from the ECU - there's a method to that involving 1 wire.. do a search..
Let us know how you get on..
Also as you're getting jerking check your CV joints, droplinks, wheelnuts and axels - if you lift the car up it should be easy enough to do the visual part..(look, clean, look, pull at it - if anything that shouldn't move moves replace it
)..
but I'd start with the gear box oil..