Car had noticeable shuddering upon acceleration, at any speed, so I thought it might have been hub or spline issues based on previous Service Bulletins (TSB) about the AWD models. My model was just a FWD, so I wasn't sure what was happening. Turns out it was the torque converter slipping in the transmission. Brought it to the dealership, who offered to replace the torque converter or the whole transmission, recommending to replace the whole transmission to avoid the issue. No transmissions would be available for the next couple of MONTHS, so the converter was replaced instead. The new converter is covered by a 2 year warranty, but we'll see if it lasts that long.