Shudder when in Drive

Car is shuddering in drive at a stop with the brakes applied (Like at a light, or a stop sign).

It is coming from the battery side of the car, and I can feel it on the floorboard and brake pedal. If I put the car in neutral, it goes away immediately. It does not happen in reverse.

I have no blinking "D" or and CEL..

Will not do it when the car is cold. Only after at full operating temp.

Any suggestions?