Slight Shudder on take off with 100s 5 speed auto?.

How many K's

Has auto been serviced, what else has been serviced and how many K's ago.

The more info easier to get a sensible answer.

Do you grease up the uni joints every 10k....I hear this can cause issues if not done and can also cause a shudder if the yoke is 'over greased'

I experienced the same problem, greased up everything and it went away.

Id be looking at the drive shaft first up also. Easiest/cheapest to check, and also the more likely culprit.
Auto is also a possibilty but these are very strong, reliable autos with an impeccable reputation. However its not impossible.
If its the sealed version (post early 03) have a look for any leaks that might indicate that its short of ATF. If there is no leaks tehn its not the problem (short of fluid)

Somebody once told me,, so i dont know how true it is......
That can happen when you have a lifted vehicle with an auto,,, as your constant torque on take off makes the pinion angle worse and a shudder becomes apparent,,,, but only on take off..

*shrugs shoulders*

Is the slight shudder only after starting the engine and taking off?
The Mitsubishi ABS makes a small vibration just after starting the motor as part of its self diagnosis check.
My Triton does it,the wife's Lancer does it and her Magna wagon work vehicle did it too.

Dont know if the other manufacturers systems do the same thing.