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If you let the gas off abruptly and you get that jerk, does that cause any damage or is it completely safe as far as you are comfortable with it ? Does it strain the whole drivetrain like a jerky shift does ? Engine/transmission mounts or anything ?

Any kind of jerking or oscillation like that is harder on the driveline and motor mounts, I'd imagine. Simply because it's stressing it back and forth. I don't really worry about it when it happens, though. Typically that's when I'm too lazy to press in the clutch so I end up riding the bronco in first gear. So long as you don't let it become a habit, you're probably fine.