why does the car hesitate?

Most likely this is more than plugs. You may have a vacuum leak, a defective throttle position sensor, cam sensor, faulty plug wire, ignition coil, etc. Knowing more information about the nature of the hesitation would be helpful.

BTW the engine used Coil on plug so there is no plug wires

I had the same problem as many Sentra owners had. Started car and when put in drive or reverse it would spit and sputter and eventually stall. This got worse over about a six month time period. Found the 4 inch plastic intake hose near the MAF sensor had two splits in it. I couldn't see them until I physically moved it. Everytime the engine would torque in either direction they would open up and the car would run extremely rough or stall. replaced the intake hose and car runs like new! Hope this helps some one.

My 2017 Nissan Sentra has slow hesitation when I stop and go, but when I'm on the highway it's fine sometimes it jerks like it has bad gas while I'm on the highway. I've changed the spark plugs on it no engine light on. Could someone help me resolve this issue please