2019 Escape (S) Auto Trans Lugging

[Not Really A Car Dude]

My '19 Escape (S) has 40K miles on it and it just started 'running rough'. At certain speeds/RPMs it shutters. I'm guessing it's because the trans isn't shifting properly (lugging) but before taking it into my dealer for a flush and fill* I figured I'd see what the hive mind has to say.
Scenario; quick acceleration (0-30+mph in a few seconds) everything seems fine. Slow acceleration or normal driving, like doing a steady 30-45 mph on a flat road, at normal altitude, and the RPMs are at ~1500-1700. That seems too low to me (or am I wrong?). Once I get on a highway and do 60+, then the RPMs seem normal (22-2400) and no more shuttering.
Purchased new, no modifications have been made to the car; original tire size, no towing, no dashboard idiot lights, etc.
Any other suggestions other than a flush and fill from the dealer? The closest post to my problem that I saw here mentioned "Instant Shudder Fixx – Lubegard", any thoughts on that? Thanks in advance for any/all input.
* Ford says it shouldn't need ATF change until 150K miles (pg. 451 of owner's manual). That seems unrealistic, but I'm far from an expert. I see many varying recommendations online; from as low as every 20K up to every 60K.

 

[zodiacspiller]

Im thinking your Escape's shudder under light load and low rpm could be a transmission or torque converter issue rather than just fluid age, especially since it drives fine under quick acceleration and higher speeds. Checking for software updates or TSBs from Ford might help, and while a flush isnt strictly required at 40k, using a highquality additive or fluid like Lubegard can sometimes smooth out these early shudders,, but it's more of a temporary fix than a guaranteed solution. Have you noticed any change in shift points or slipping when it shudders?