Happens when stopped and just beginning to accelerate to get the truck moving. Only happens for a split second, and not very often. Torque converter shudder?

Truck only has 31K miles, I am the original owner. No valvebody mods, stock line pressures, all stock internals, etc. Truck is not lowered either. Since 5K miles I have been running Amsoil synthetic Torqueshift fluid which is their crossover compatible fluid for these trucks (I read all the stuff on proper fluid compatibility). I wanted to run synthetic in it since it stays in like-new condition much longer. I tow only occasionally and never use much throttle when towing because I don't want to abuse the tranny.

Is this characteristic of our trucks? I thought I saw a mention of a service recall bulletin on this somewhere? Should I ignore it the shudder? I am inclined to since it is pretty infrequent.

 

rear drive shaft u-joints