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01 VDC, 05 R Sedan, 06 BAJA EJ257
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Does the speed of the car make a difference in the shudder? Temperature a factor?

Flush the transmission. It may help. Sounds like the 3rd or 4th clutch is going or it could be a sticking valve or solenoid. If you catch it early enough and its a sticking valve or solenoid, it may correct it before it damages the clutches too much.

With mine, the adaptive shifting programmed in the TCM was covering up a problem with 3rd clutch until it was too late. Had to rebuild it again after 17k miles.

You may consider removing the pan for inspection and cleaning the sump screen.
 
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