I had this happen on my 22 AT4 the other day, I think I can reproduce it but I'll have to test more on my next trip.
Cruise was set to 54mph, tap the brakes and slow down to 50 or so, tap the up to resume then immediately hold to increase speed to 65 and I got a bad shudder. I did the same thing to try and reproduce and it happened again. I'll try it out next time I drive and post if I can reproduce it again.