What's Causing My 2004 Chevy Malibu to Violently Shudder?

Daniel

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I have a 2004 Malibu with about 95,000 miles on it. A few months ago I was on a long road trip. After I had been driving for a few hours, I got off the freeway. As the car slowed down or sped up, it jerked forward and back like crazy--as if I were getting rear-end. Since then the problem has persisted, but only when the car has been driven for about 30+ minutes or about 30+ miles. (This makes it difficult because when I take the car in to the shop for a test drive, they don't notice anything.)

What would cause this to happen, but would not cause it to happen right away?

Any help is very much appreciated.
It is an automatic transmission.
 
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