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I had this shudder issue (I wrote about it somewhere on this forum, sorry... don't know where at the moment)... it wasn't severe most times, but the dealer was able to replicate it on the 2nd time I brought it in... Jim Coleman Infiniti (Bethesda) were very professional... they quickly applied a software update only (no transmission change) and I haven't experienced the issue at all in 2 months and the drive has been great!
 
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