Recently, my 99 SLK 230 has started shuddering when I put it in reverse in the morning. There is no problem backing, no slipping, grinding etc. It is a bit less noticeable after I haven driven it awhile and everything is at normal operating temp, but there is still a shudder. There is never a shudder in Park,Neutral or Drive. Sometimes, especially if weather is cold, tranny does need to warm up a bit before takeaway or else upshifting out of 1st is a bit delayed. Then, after the first upshift, everything is OK from then on. I had fluid changed at about 100K (bought it at 95 K and don't know any previous history), and mechanic said old fluid looked OK. New fluid has about 35K on it, and I can't check it myself. Anybody have any thoughts as to what could be going on ? Could it just be a loose cross-member, mounting bracket, etc. that shudders from reversed torque? Have others experienced this? Thanks to each one who takes the time to weigh-in on this topic!