I have the same code P0730, when oil gets hot star griding, jerking slipping jumping is a 2002 Acura MDX
P0730 Problem in shift control,
Your best fix is to put a clutch shift control A- B (clutch pressure control A-B) if this clutch pressure control goes out of its range there is the jerking, a lot of times P0730 transmission was replace,d and when it was open there mainly was nothing completely wrong on the inside, this is worth the first effort.
Plus when troubleshooting a P0730, since this is located on the outside of the transmission this is a recommended way to do it,
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