2012 Hyundai Elantra drivetrain & axles problems

While pulling onto a city street away from a curb, the car lunged forward and would not continue to drive.I checked to see if the gear selector had jumped out of d to n. Did not. Tried to continue down the street, and the car did the same thing at different intervals. Transmission would not shift properly out of 1st gear. Rpm's and engine continued to operate, but transmission was continuing to grind, bang, jump and not shift.

Almost every time I have started the vehicle and placed in drive from reversing out of my driveway, the vehicle jolts and seems that transmission is lagging or changing gears abruptly. The service engine light went on and I had made an appointment. When I took it in for inspection, the dealer said they could not recreate what I was talking describing. In addition, when I drive the power steering has had some issues. It has never drove in a straight line after two alignments. And it can be tough to turn the wheel.