Hello lanejac,
I think Bounty__Hunter is, as always, right on target.
My Jeep developed that same S-H-U-D-D-E-R when moving off in first gear, but at no other time. The cause turned out to be a broken driver's side motor mount.
If you prop up the hood so you can watch the motor from the driver's seat as you release the clutch in first gear, you might be able to see the entire motor rotate toward the passenger side (torque reaction) if the motor mount is broken/defective.
A limited amount of engine roll is normal, but in case of my Jeep, the motor rotated much more than could possibly have been reasonable.
There are other possible causes of that start-off shudder, but I think the motor mounts, t-case mount, and torque reaction limiter are, as Bounty mentioned, a good place to start your investigation.
Regards,
Gadget