There is some normal, allowable motion of the engine/trans on rubber mounts. If you could see one make an air gap it needs replacement. When rubber isolation fails it's metal to metal which is like a tuning fork in your teeth - don't ask why I would use that as an analogy
With updated note on when this does this is now may be "chatter" from transmission which I'm sure makes your day! If trans fluid is burnt looking it could be a clue on that.
If a mount it should show up fighting engine in gear against brakes sitting still - again using all caution to keep out of the way as engine could easily win over brakes and van move! Smile - I have a replacement shop door as proof that the door is not as strong as a vehicle

Better a door than YOU or a helper.
Exhaust parts must flex with engine/trans movement also. That can cause vibrations, noise and maybe the shudder you are feeling. When cool sometimes you can just wrestle with the parts by hand or bump with rubber hammer and find faults that way. Some motion is allowed and needed within limits,
T
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Tom Greenleaf - MetroWest, Boston
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