I have a 2015 Pathfinder which first started showing signs of shudder/judder about 20k miles which was about two years ago. Went to the dealership, they could not replicate the problem and there were no codes. It got severe starting this year when I reached 50k. Changed transmission and brake fluids, rotors and pads replaced, wheel alignment done but the problem remained. There was some serious shudder on slow speeds(20-35 mph) and while turning. I went for a routine oil change a week ago to the dealership when I had 58765 miles, the tech experienced the shudder and was able to reproduce it more than once, at will while taking a turn. No CEL though, it never came up since I have owned it. There was a code this time, P17f1. The link to the TSB is TSB. The problem is the belt slipping while changing gears. The service personnel told me that I should get it fixed before the warranty runs out. I was under the impression that the warranty was 3 years/36000 miles but he told me Nissan has extended it to 60k miles because of this issue. As per the TSB, the fix for this code is to replace the transmission Sub Assembly. Had the code read P17f0, the whole transmission needs to be replaced. He said he needs one day to carry out the repair work and provided a loaner. As promised, the car was ready in a day and the tech did an extensive test drive of about 100 miles before certifying the fix. Upon asking the tech as to why the sub assembly and why not the whole transmission, he mentioned Nissan has come up with a better design of the sub assembly late last year and that's why the problem persisted in previous cases where the transmission was replaced. I have driven the car for about 70 miles since then and there problem seems to have gone, no shudder and butter smooth drive at slow speeds and turns.There won't be a CEL.
Hope this post helps, I'm happy to answer any questions. Will also post a copy of the repair work and parts involved soon.