Vehicle Shudder problems of the 2006 Lexus ES330

My son was driving his car on the highway for approx. 1hr and exited the highway to a side road. At the first light the car would start in 1st but not go into 2nd and after 2/3 secs it would lunge into gear. The same happens when putting the car into reverse. It shakes the whole car. After research these transmissions were recalled in 04 and 05 but not 06. Lexus says there is no problem but our friend the internet says something else. Repair cost 5800. 00 from Lexus and not covered because not enough complaints.