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Could be clutch, could be the clutch actuator, could be TCU, a wiring fault, broken motor mount, worn CV joint, shift motor, many possibilities. For modern cars (2008 and later) a scanner capable of reading canbus is an essential tool to read codes the system may have thrown. You can have error codes and not have a CEL (Check Engine Light) or other indication of problems. A lot of the autoparts stores will allow you to use a scanner to read codes for free or for a nominal price. It's the first place I start, it might not have any codes, but knowing one way or the other is the best start.

The better you can describe what you're experiencing, the better the help gets. Text is sometimes hard to convey what you experience, could you capture it on video or audio?

Lawyers, doctors, mechanics; find a good one and hold on, mediocre ones everywhere and competency isn't common.
 
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