While you may or may not be right about the dirty fuel injectors, there are several different things in the Insight that could cause a slight "jerk". The thing to keep in mind is that mechanical brakes cause the car to slow down in a very smooth progression of pressure from no braking to hard braking. Foot pressure becomes braking pressure.
When the ignition and fuel injection turn on and off, that's like throwing a switch. Whatever drag turning the engine off gives happens in one surge. There is no smooth transition. It's not a lot of drag, but what drag there is happens all at once.
There are several separate coils in the regenerative-braking-generator that are electronically engaged and disengaged. You can see this happen with the green "charge" lights on the dash. This is not a smooth transition, like brake pressure. These are I believe four separate stages that are switched in sequence. This gives you varying degrees of braking, but again, it is "digital", not "analog", and very low resolution at that. Each stage doesn't do a lot of braking, so the surges or jerks are subtle enough that most people don't notice them, but if you feel for them, you can definitely feel each one.
Then there's the anti-skid brakes. Slam on the brakes, or hit a patch of sand, gravel or ice and the brakes begin stuttering so that the wheels don't lock. It won't make you stop in shorter distance, but it will allow you to continue to steer while braking, whereas locked wheels will slide sideways as easily as forward. Anyway, this stuttering is also jerky.
Similarly, the increasing stages of boost (yellow bars on the dashboard) are also switched in, so there's a subtle jerk as each is engaged. It's a jerky car in this subtle kind of way. It would cost a lot more to give the electronics the same kind of smoothness that straight hydrolic brakes offers, and likely, there would be a loss of efficiency as well. True sine-wave inverters, for example, cost more and consume more power than modified (jerky) sine-wave inverters.