These transmissions seem to be sensitive to fluid issues, especially if they get hot a couple times, I have started a routine of fluid and filter change every two years and my problems have vanished. Shifts smooth and seamlessly.

 

Following. My truck, 2017 F15 XL has a shudder in the transmission. Doesn't matter slow speed, at traffic speed, under load or not. Even does it when coasting or decelerating. Making an appointment to have the transmission serviced, fluid flush and filter. Hope this does the trick.