Jerking at idle is a charicteristic of T-Maxxas and a symptom of high idle. It will probably always jerk some on takeoff whatever you do.
There is a mod to fix it but it requires opening the transmission and making some mods to the forward/reverse clutches. Here's a link.
http://monster.traxxas.com/showthrea...ant+engagement

That will let you keep reverse but if you don't care about reverse then you can do a FOC and that will get rid of the jerking too.