It's possible a motor mount, that the engine vibration makes it shudder only at low speed such as when taking off, but that's kinda rare. It should shudder at other speeds, too.
most likely it seems like something in the transmission. I'm assuming that you've got it in 2WD rather than 4WD when this happens. You shouldn't be driving it in 4WD anyway on streets. It can damage the 4 wheel gearing.
Might have something to do with first gear, since you shift out of first gear very quickly when driving. First gear may be going out.