My 2012 with 42k mi just started getting a bit of a shudder, most noticeable under regen but a bit under acceleration and a tiny bit when coasting in N. Then today I was on the freeway and at 60mph or above there was the shudder but with a tk tk tk tk sound. More from driver's side than the other side.
Axle joint coming loose from trans?
Motor position sensor causing uneven torque?
Wheels and tires seem ok. Loose wheel or tire defect was my first guess.