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2012 Lexus RX 350 shudders when accelerating from stop

When accelerating from stop (between the 2nd and 4th gear at around 1,500-1,800 RPM), the car shudders and vibrates violently. We are not sure if it’s a problem with the engine or the transmission. It feels as though the vehicle is experiencing difficulty finding the right gear.

Is the check engine light on? If it is, is it steady or flashing?