I’m not sure what Honda officially has to say about it, but it is best to have the transmission pan dropped and the filter changed every 30K miles. If you’ve had the same fluid in there for 140K that wouldn’t be ideal.
Even if the transmission isn’t the cause of your shudder, I would still take this to a local (i.e. non-national chain) transmission shop. Ask them to give things a once over and do a basic service.