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The first thing I would do would be to check the cleanliness of the AT fluid. If its brown (not RED), you likely need to get it flushed. Do you know when the AT fluid was changed last? Also, I've found that in AT changes that only involve dropping the pan the fluid gets dirty much faster than in a complete flush.
You best visit a trustworthy transmission shop. Some times changing the fluid will make matters worse and it does cost more than a few dollars.
The shop should be able to read error codes from the transmission that will likely determine the source of the shudder. The money you saved not changing the oil could be better spent fixing the problem. At that mileage a tranny fix is not uncommon in any vehicle.
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