Transmission shifts good in reverse and drive it shudders at 35 to 40 MPH?

This an happens when the transmission fluid is worn out and needs to be changed along with the filter, here is a guide to help with the instruction for your car in the images below.

https://www.2carpros.com/articles/how-to-check-and-add-transmission-fluid

Fluid Types

Lubricant .................... ESSO LT 71141 (color. clear-yellow) Or equivalent

Note Lifetime filling.

Capacities

Capacities, Planetary gearbox

Automatic Transmission 01V

Initial Fill .................... 9.0L (9.5 Qt)

Fluid Change .................... Approx. 2.6L (2.75 Qt)

Caution

Additives cannot be added to the ATF.

Capacities, Final drive

Initial Fill .................... 0.75L (0.80 Qt)

Fluid Change .................... filled for life. No Change

Check out the images (below). Please upload pictures or videos in your response of any problems so we can see what to help you with.

No problem, it should make a difference.