Volkswagen jerks while shifting gears?

Check if your motor mounts are sloppy.

Slipping is usually caused by a stripped gear in the trans ,depending on what gear it slips on u can find the stipped gear.

Also inspect cable between transmission and engine.

Concerning Touran, i would check the oil level, it might be too high.First things to check would be oil level and the fault codes. There is no dipstick in the car for transmission oil, so the workshop will have to do it.
If you remove the battery ground cable, the fault codes can become not active, and let the car drive in all gears for some time.

This will help.Thanks.

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