With my car, driving a tiptronic is totally new to me(specifically using manual mode). Upshifting wasn’t a hard task to get good at, generally shifting at around 2.5k-3k rpm when just normally driving but downshifting is my problem. When I approach a situation when I need to downshift(like a stop sign, red light, etc.) the car does a little jerk as I downshift and I’m not sure if I should be worried. I brake in, downshift when I hit 1k-1.5k rpm,(I’m also not sure what specific rpm you should be in when you downshift but I believe that’s the general area) and then I feel the jerk. I’m really new to this kind of driving and I was wondering if anyone had tips on this.

Firstly I'd check the rear diff bushing.