I agree, avoid the flush route. stirs up too much junk from the dirty tranny pan into your Techm body and all the valves and solenoids that control your tranny. I would not hesitate to change the fluid IF, you drop the pan, clean it and install a new trans filter with the fluid change. Understand that this will only change the fluid in the tranny pan and will not change what is inside the torque converter. So you will get about 5 new quarts inside with a pan drop and fluid drain.
Changing your fluid in the pan more frequently keeps cleaner fluid in the system and will extend your tranny life.
Some will install a new tranny pan that has a drain built in so you can do another fluid change after driving a. little with a lot less effort. Otherwise it would be good to drain a second time after driving the truck a couple hundred miles to pump newer fluid into your torque converter. A new filter should be installed maybe every 60,000 miles? Factory says 100K. What you choose is up to you.
As far as your situation, just changed the fluid and now have a shudder. Sounds like the system might just be low on fluid? Pan leak or under filled? First thing to check and maybe you already have?