Transmission shutters at lower gears between 22 to 35 mph especially after sitting long enough to cool down. Does not occur normally when you take off at higher rpm.
Have you checked the transmission fluid level? Has it ever been changed?
Those are good places to start.
Does the shuddering take place only on low-speed turns?
If so, then I would suspect a problem with the center differential–which has been problematic on CR-Vs.