Little over 40k miles we started noticing shuddering/hesitation on the car when driving 20 MPH - the only way it would go away is by letting go of the gas pedal, which I spontaneously did when felt the shuddering... yeah, it was very rough. Problem had to re-occur couple of times before we took the car to dealership and they found a code that corresponded to the valve body in the CVT which was replaced at no cost for us. They asked us a couple of questions about driving mode and speed when problem happened and things like that. Other than that I was not given any hard time with dealer (kudos to them). At 55k miles now car is still good, the problem has not returned.