[vgames33]

I'm not familiar with a "Prado." Google shows a Toyota Landcruiser, so I'm going to assume its a 4WD truck.

A shudder when turning a 4WD vehicle generally indicates a binding of axles, u-joints, or something inside the transfer case. It could be sticking in 4WD due to a bad shift motor or something.

AWD and automated 4WD systems have issues with mismatched tires. See if your tires are at the same tread depth all around. The worn tires spin faster and send false slippage signals to the control unit, which proceeds to command 4WD when it isn't needed. This can cause shudders and jerking.

See if you can remove the front driveshaft. Some models allow you to do this without losing fluids. That should eliminate the 4WD system as the cause of your problem.