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We have a 2009 Taurus X SEL.
It has an issue when travelling around 45-50 MPH, accelerating slowly, the vehicle will "shudder" fairly hard. It feels almost like running over a rough road. This is especially apparent when driving up an incline at speed, but of course the couple times I've taken it to a mechanic they haven't been able to reproduce the problem.

No codes are firing.

Letting off the gas or accelerating a bit harder will make the shuddering stop.
 

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Sounds like torque converter shudder during lockup. When was the last time, if ever, that the tranny fluid was changed using the correct Ford specified fluid for your tranny (no "universal" fluids in any Ford tranny ever!!).
 

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I had a similar issue on a 2006 Taurus and thought it was a torque lockup issue. Turned out to be a bad coil and weak spark. Not high probability but possible if your coils or plugs are damaged.
 

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Don't rule out tire issues. I had a truck once that ran smooth between 0-45 and 55-70. When I was going between 45 and 55, it acted like I was constantly running over railroad tracks. It turned out to be a broken steel belt in the tire.
 

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These types of issues on these engines are commonly bad spark plugs. Being that those are the cheapest fix, start with those. If the issue persists, start looking into other things.
 

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I agree - based on your description it sounds like misfires due most likely to a failing coil.
There are misfire thresholds set that need to be exceeded to trigger a MIL and codes,. just because the MIL is off does not mean it's not misfiring. With a scanner (not a reader), you can watch the percentage of misfires occurring. Hook up the scanner, find the right screen to watch the misfire rates, and have a passenger watch the numbers as you replicate the problem. You will easily identify the affected cylinder(s). Usually it'll just be one, sometimes 2.

Change the coil and plug for the affected cylinder(s) and you should be back to normal.
 
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