My signature contains the truck info.
Here is the rundown:

1. Starts great and idles nice.
2. I warm it for about 2mins then pull out of the driveway.
3. For about 5mins the truck drives okay (little sluggish but staedy)
4. then I get jerking and hesitating.
5. I put it in Neutral and the engine revs/runs fine.
6. back in drive (3,2 or1) it jerks and hesitates.
7. 10 mins runs well.
8. One thing I did notice was that at 100 km/h the speddo needle was jumping a bit during the hesitation stage.

This happens every drive I take. I have changed the Fuel filter,Cap,Rotor and wires. i have the plugs but haven't put them in yet.
I will try to pull the codes. i have never did that before.

 

It sounds to me like a fuel pressure problem. Low fuel pressure will cause bucking and jerking. I had a weak pump in one of my trucks, and it would be fine at idle, but ran like crap when you got on it. Not enough fuel was getting to the injectors.

You can test the pressure with a fuel pressure gauge, available at Sears for about $30.

 

Would it come and go if it was a weak pump? Meaning its fine driving then jerking....then fine.
I will check it out regardless.
The engine ligt came on a couple days ago. Does the truck post errors even without the idiot light?

 

I had a similar problem back in the Spring of this year. Sluggish and prone to jerking and hesitating, always felt like I was towing a school bus. My problem was also accompanied by good deal of spark knock, especially when accelerating. The problem was not too bad when cold but got bad once the truck warmed up and under load. Like you, I coul put the truck inpark or neutral and I would ahve no problem until I put it back in gear.

I tried premium fuel and octane improvers to no avail. I replaced all of the components that you replaced and still no correction of the problem. Took it to two local shops and a dealer and still no solution. I then noticed black marks from ignition arc on the valve cover from one of the plug wires. Re-routed the plug wire and the truck runs great. No problems since. And yes I had replaced the plug wires while trying fix this and must have routed them identical to the old set so the problem persisted until I noticed the burn marks on the valve cover.

May not be your problem but it is a quick and cheap check. I was astonished at how such a small thing could have such a big impact on performance. Good Luck. My truck has a 302 V8 but could be the problem with any gas engine with similar symtoms. Good Luck.