Juddering and stalling in reverse

This does sound like a transmission issue. There are two things we need to start with.

First we need to check for codes. Even if the lights are not on, we could have a code that will point us in the right direction. Here is a guide that will help with this:

https://www.2carpros.com/articles/checking-a-service-engine-soon-or-check-engine-light-on-or-flashing

Next thing is does the vehicle have any issues in drive? What about when you are driving on the highway and then exit and come to a stop? Does the vehicle stall when this happens?

I am thinking we have an issue with the torque converter causing these issues.

Unfortunately we don't have a manual on this vehicle as it is not offered here in the USA but I am sure based on this info we will turn up the issue.

https://www.2carpros.com/articles/automatic-transmission-problems

Let's run through this material and we can go from there. Thanks

Okay. Just to be sure, did you check for codes or are you assuming there are no codes because there are no warning lights on?

There are codes that will set that will be clues with no light set so if you haven't checked then we need to check.

However, if there are no codes then we need to suspect the issue is with the reverse clutch or torque converter.

What I would try before you do anything is adding an additive to the transmission fluid called a friction modifier. Basically this is designed to soften the clutches so they don't vibrate just like conditioner for your hair.

What is causing this shudder is a clutch that is grabbing and not slipping like it should. So if you can add a 4-7 oz bottle to the transmission fluid and then you need to put about 100 miles on it before it works into the clutches.

Take a look at the description to one commonly available. Please let me know if you have questions. Thanks