Transmission Shudder 1st and reverse

[IAdie]

I have a slight shudder when shifting into drive and also reverse, it is also noticeable when coming to a stop as the transmission does it then also, apart from that it drives great, there have been past posts about shudder but I could not find one like this. The truck is 2007 5.9 auto with 69,000 miles. Any help would be great.