When I step on gas pedal at a stop sign by car
jerks. It only does it when I take off from a complete
stop and only three times. Also it only does this
when the car has sat for a few hours
You might be low on transmission fluid.
I'm not I checked that
There was a TSB concerning this for a software update. Some people have had luck with the update and others not so. Also depending on how much mileage is on the vehicle may be a sign of internal wear of the transmission such as pump, clutch plates, etc. I would suggest as mentioned checking the fluid level but this slip bump you describe is widespread with the 6F50 transmission. It usually only happens here and there usually when cold but it can occur at any temperature.
don't use a conditioner , swap out the old fluid for new the best you can
Looking for a Used Taurus in your area?
CarGurus has 308 nationwide Taurus listings starting at $2,973.
Search Ford Taurus Questions
Ford Taurus Experts