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The shuddering and Jerking usally is a Fuel problem, bad fuel pressure. When I test for this I connect a fuel pressure guage and check the pressure while driving. Could be a couple of other things like a EGR -stuck, Vacuum leak. The first ten minutes everything is good sounds as a sensor is shorting out when it gets warm. Does the check engine light come on? Check for codes by turning the key on then off then on and count the flashes. the dealership should be able to fix this, it should show up on a Scan. Also check the voltage double check for vacuum leaks.
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