It takes me about 20+ times turning the key while pressing the gas to get the car to fully crank and even then it isn't very pleasant.

I have replaced the MAF, IACV, and cleaned the two crank sensors, and cam sensor to no avail.

Also at a stop while holding the brakes the car jolts harshly but doesn't do it when pushed into neutral (A/T).

Is it the fuel pump?

 

Check the fuel pressure..

 

cleaning the crank sensors doesnt mean anything. They are magnetic. once they lose their magnetic properties there is no getting it back. I would test them per FSM and/or replace them.

 

Fuel pressure which should point to your injectors. Either one is stuck open or seals are weak.