Hard to say what's up but it's certainly not normal and not limp mode. The short answer is that it needs a trip to the dealer. Let's delineate things a bit more...
Does the car 'jolt' when you're rolling along at speed with the clutch depressed and shifter in neutral? (this would rule out a rear differential and e-brake issue)
When you're driving with the car IN gear, does it jolt or feel abnormal BELOW 3k RPM?
Is this something that happens when you reach or surpass 3k RPM with slow acceleration or is it elicited by an aggressive acceleration only?
Others, feel free to chime in with more questions or suggestions.
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