I agree, the Steering Sensor is failing and will need to be replaced. You may find that the jerky feeling varies with temperature. Over time, the jerkiness will get progressively worse, and eventually begin to cause Safety Shutdowns (and the InfoKey will report one of two associated error codes). You'll be able to use the Segway PT just fine between these Safety Shutdowns, but they will become ever more regular. Eventually it will fault upon start-up. Replacing the sensor will completely resolve the problem.
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