'95 Neon shudder when pulling from stop or 1st to 2nd

I've got a 1995 Neon with automatic transmission.
When pulling away from a stop or when the transmission shifts from 1st to 2nd there sometimes is a shudder in the front of the car. It's very
noticible when it happens. Other than this, the car seems fine other than an O2 sensor needing replacing.
This sounds like transmission trouble, but how bad is it? Anyone know what this could be?
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