Vehicle Shudder problems of the 2001 Acura MDX

I purchased my 2001 Acura Mdx in March 2019. Since purchase the car consistently makes a loud clunk when shifting the gear shifter into reverse. It also clunks consistently going from park to drive. There is hesitation in the cars shifting. At times I either have to speed up or let speed off for a transmission shift to occur. The car shudders horribly when braking at low or medium speeds. It feels unsafe and scary and only a matter of time before a complete wipe out occurs. Seeing this as a ongoing problem with this vehicle and yet California is not in the vehicle recalls seems ridiculous. These happen on city streets and highways daily while driving said vehicle.

Two issues with drive-train: first is a grind/rumble (like driving over a highway rumble strip) felt at low speeds (20-30 mph) with light acceleration. Shakes vehicle slightly. Can be reproduced. Vehicle can accelerate through the grinding/rumbling by further depressing accelerator and sometimes accelerates through the 20-30 mph range without noticeable grinding/rumbling. If, however, the vehicle is accelerating slowly and it does begin to grind/rumble, maintaining a consistent speed/rpm level (without drastic change in road surface or grade that would cause computer to change gear due to increased/decreased friction) the driver can create a continued duration of the grinding/rumbling until releasing of further depressing the accelerator to change out of that gear/rpm/speed/load combination which results in the grinding/rumbling described above. The second issue is a whirring/lugging during highway speed cruising on level surface with d5 automatic transmission gear engaged. Once the vehicle accelerates above around 45 mph, more consistently at speeds above 50 mph, on level terrain at consistent speed via accelerator or cruise-controlled, the vehicle will frequently increase by approximately 200-300 rpm and begin to make a whirring sound which lasts a few seconds then the rpm return to previous speed and the whirring subsides. A few seconds later the same thing occurs and this cycle continues throughout the duration of the maintained speed. The phenomenon is more noticeable with cruise-control as the speed and rpms likely have more computer regulation but it is also noticeable without cruise-control engaged. My concern is that in either situation the transmission internals could be worn in a manner not intended by manufacturer resulting in overheating or breaking of internal components that could cause a sudden and violent reaction of the speeding vehicle.

While driving, the car started shaking and shuddering. The dealer kept my car for 10 days and put in a new transmision. I got the car back and it was still shaking and shuddering. They want to put in another transmission. It feels very unsafe to drive!.

The vehicle would shake and rattle between 1500-2000 rpm's. The dealer was unable and unwilling to correct the problem. The hesitation in the gears prevents the vehicle from performing maneuvers which could prevent or even cause accidents.