Focus on the transmission first. If you have tools, you can do a pan drop, then clean the pan, magnets and replace the filter. Very few shops will do a pan drop and cleaning. You can buy the AT drain plug gasket, pan gasket and filter from Ios (infiniti of Scottsdale),
http://www.infinitipartsusa.com. one of the NICO sponsors. The cost may be $35 plus shipping.
The recommended fluid for your car is Nissan Matic-D but Dexron III can also be used. You can buy Matic-D also from IoS. You may need 5 quarts of ATF when you do the pan drop. Once you have done the pan drop and refill, then you can take it to a shop for the ATF flush and fluid exchange. I'm sorry I can't recommend any shop in Ontario. The forum members recommends the BG flush machine. Be sure they run the engine for at least 30 mins to allow the flush additive to circulate in the system before they do the actual fluid exchange.
Once the ATF flush and fluid exchange has been completed, you have to add LubeGard Red ATF Protectant (not LubeGard Black which is a friction modifier). You can buy this additive from auto parts store for @ $13. Hopefully this fixes the AT jerk problem. If not, then it's you call whether to have the AT repaired/replaced. It's going to be expensive.
Good luck
Rod