My 05 escape has shudder, when leaving/turning in an intersection.

It has the all wheel drive feature, which detects a spinning wheel ( ie on ice
or snow) so it shifts automatically into all wheel from 2 wheel (front axle) . Is
there a clutching system to do that?  I've driven many 4wd vehicles, & when
in "4", on pavement, they wobble, as U joints feel the bind.  This just started,
on all dry pavement.  It has given good service, & has 283000 miles on it, we
put about 180k on it, very reliable for 7 yrs. It's a v6, limited.