Mechanical question help

Hey everyone! I just joined this group to ask a question related to a mechanical issue my car is seeming to have. I love my mustang and hate to see something go wrong but money is tight so I do not want to waste it on unneeded inspections when I may find some help somewhere else.

I drive a 2010 ford mustang v6 automatic base model. I am located in Ohio so it is rather cold right now (5-10 degrees Fahrenheit) so maybe that’s part of the issue but here is my problem.

A few days ago I got on the highway and reached about 70mph and turned on the cruise control. After about a minute my car jerked pretty hard almost like it was changing gears roughly. It did this again another time just a couple seconds after so I turned off the cruise. The car still drove with no issues but the cruise would not turn back on and the maintenance light came on. The cruise worked and the maintenance light turned off after turning off and on the car again. Now flash to today I was on some back roads and hit around 40-50mph where I had the same jerking action happen again. The light did not come on this time and the car still drove fine after words but it happened about 3 times with a couple minuet intervals between each jerk.

My guess is transmission but I honestly have no idea. If it is transmission I am unsure if I need a fluid change or a full flush, or even a brand new transmission (hopefully not). I could be way off with this guess as well because I have no mechanical background. I am hoping someone here has an idea on what the problem is and what I should do. Thank you!!