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I think I know what you are talking about, when you let out your clutch the car shudders as it engages.

This isn't normal, and is probably due to glazing of the clutch disk, this will form a varnish on the disk and when you engage the clutch it will grab and release the flywheel quickly before it engages completely giving you that shudder.

The reason it doesn't do it all the time when starting from a stop is because your engine rpm is a bit higher than usual and it has a smoother transition, the quicker engine rpm prevents the grab and release, it should almost never happen when you are moving because when the rpm of the engine and transmission are closely matched the catch will be instant, no need to let the clutch out slowly when you are already moving.

You can sometimes remove the varnish causing you trouble by bringing your rpm's up a little higher than usual and letting the clutch out very slowly, this can burn the varnish off and leave a fresh surface, it doesn't always work, but I have had good luck with it.

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Q: Why does your clutch not judder all the time?
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