06 Automatic Escape slight vibration when shifting

I agree. Tire wear,condition and balance can also play a part in vibrations while driving.

Thanks for your answers! ... vehicle is AWD, Tires are new - have about 10K on them. They were just rotated a couple of weeks ago. Fluid has not been changed recently. I just started noticing the shudder last week.

Be sure to keep you automatic transmission fluid changes up to date. If there is a weak link in the early Escapes, it's the auto transmissions. Keeping fresh, clean fluid in it will go along way in keeping it trouble free. If you use your Escape to tow, you'll need to change it even more often.

U-joint could be starting to fail.