Bearing Shimming
WARNING: This page is about a different car, the 2007 Ford Pickup, 2007 Ford F550 Super Duty, 2007 Ford F450 Super Duty, and 2007 Ford Cab & Chassis. However, it is still accessible from the selected car via links, so may be relevant.
Drive-away shudder is the predominant symptom associated with driveline angles condition on vehicles with 2-piece driveshafts. Drive-away shudder can usually be corrected by shimming down the driveshaft center bearing bracket. For additional information about the center bearing and support bracket, refer to DRIVESHAFT article.
If the drive-away shudder cannot be corrected by shimming down the driveshaft center bearing bracket, check the driveline angles as described in this article.