We have a 2010 CrossTour and it shudders hard at 22mph - The brake, gas peddles, floor shake real hard - we even opened the hood and was able to see the motor shaking real hard. If you drive up a small hill at 22mph - you can really see and feel it real bad.
The dealer replaced one of the drive shafts and it went away for a little bit, but now back even worse. They also warped the rotors tightening the bolts down too tight as well.
It doesn't do it under hard acceleration - only at normal acceleration or driving at 22mph. I really need to get the video camera under the hood to take a video.
I test drove a bunch of others that don't do it.