Is it AWD, or RWD? Also, are you in manual mode, auto, F-Sport, or F-Sport + mode? Those modes can change how the car performs and they are very noticeable indeed. I can make my car feel like its jerky in certain settings, incline/decline, type of road surface, weather conditions, etc. That can be normal depending on driver input. (I drive a 2017 IS350 F-Sport RWD)
You did mention it feeling like staying in 1st gear and the jerkiness...It's a strong possibility that you may have put it in manual mode when changing the gear lever to drive? Or have you pressed the downshift lever on the steering wheel/column to manually put it in 1st gear, which it will stay for maybe a few good seconds before reverting back to auto. That feature is great for when you need to have a quick downshift assuming it will not over rev the engine when say accelerating to pass someone.
Added: You can always request a test drive with a senior certified technician at your local Lexus Dealership.