Shudder is often a matter of oils and the bands in the tranny slipping (or not 'gripping' as well as they should). It's usually pronounce on shifts, and esp in drive or OD position. Esp if your rig isn't throwing codes, and ESP if the fluid is old or has recently been changed. There could be other reasons the bands aren't gripping enough, but fluid friction is one of them. First off, I would recommend changing with Chrysler transmission fluid ....or, change the old fluid with chrysler fluid if it's old fluid (and shudders). It may take 500-100 miles after an oil change for the shudder to work itself out. If that doesn't do it I would add some anti-shudder agent to the fluid and see how that goes. Chrysler I'm sure has some at their part's counter.
I changed fluid on a Chevy truck years ago and it shuddered like crazy afterwards (about 30-40 miles afterwards). It was kind of violent at times. I read a ton of things and eventually settled in that I was going to need a new tranny. Then I read some forum posts about Penzoil trans fluids that include anti-shudder compound for older vehicles, and a few people had their shudder go away after replacing with the Penzoil. At the time I didn't associate it with my fluid change, but after thinking about it, it made sense. Anyway, figuring I only had $25 to lose I tried it, with new Pensoil Dextron IV, which advertised it included an anti-shudder agent. It worked (after about 50 miles), and never shuddered again. That was about 15 years ago ...and now I have 260k on the truck! I replaced ALL the fluid (by removing the trans cooler line and bleeding out the torque converter -- google how to do it).
So, I can't guarantee that would help you out, but given the relatively low cost I would give it a shot. But check with chrysler and get some of their anti-shudder additive rated for your truck.
If after that, it still does it, I would see what the dealer says.