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How old is the transmission fluid? If it's more than 30K miles it could very well be the problem.
I posted an artile here that details how to change all the transmission fluid. Use a fluid that has a MERCON, but not MERCON V rating, and change all the fluid. Or have a garage with a fluid change machine change all the fluid for you. Most of the time new fluid eliminates the shudder problem.
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.