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Taurus shudders when accelerating uphill

I have a 2001 Ford Taurus with 103,000 miles. It shudders when I accelerate; sometimes one, two or three shakes. This usually occurs around 35-40 mph while I am going uphill (never while going downhill). I always use overdrive, but I tried it in drive and also felt it then.

Has anyone successfully diagnosed and fixed this problem?

Get the transmission serviced. It may be the lock up clutch in the torque converter.