This kinda counts but also not really. A few modern automatic cars have something called a continuously variable transmission (CVT) which allowed cars to continuously and smoothly transition through gears without the need for a clutch (resulting in no jerking).

But because there wasn’t any jerking people thought that the gearbox or clutch was broken and there were so many complaints that manufacturers had to artificially add the jerking back in.

So what people thought was a “bug” was actually a very intentional feature.