my 99 cl3.0 doing exactly same thing. but I noticed that when just start the car, everything is fine; 10 minutes later it starts jerking and getting worse adn worse, particularly turning the car at low speed. and I can see some radius marks on the front discs.

I know my front bearing holders is not perfect, but it is wihtin limitation( less than 1mm in ax and radius). you can check them by jack up and turn the wheels.

next, I thought the ABS is too nervous. I can do nothing about it. I hope i am wrong.

the last one is worst I thought it come from engine mount. because my baby is not only jerking but clunging.

some smart guru can help us? thanks.