Mate, I have just been through this. Shudders and some less than ideal shifts on occasion. The torque converter is definitely the source of the shudder. I had it replaced, along with replacing the pan with the metal part and a few other little bits (see the pic) for less than $3,300 in Canberra.
The guy I chose was fantastic. He wasn't the cheapest around (a fair bit off actually), but when I spoke to him he knew the transmission well. The bit that sold me though was that he was more than willing to listen to me and have a conversation about my understanding of the issues and fixes, rather than tell me he was the expert and ignore me!
As it stands now, it runs beautifully.
The advice given here previously to install a Sonnax Zip kit (seals, o-rings, valves, sleeves, etc.) is a good one. If you can stretch a little further for it then I say it's worth it. I decided not to as we were having issues sourcing it at the time and I needed the D4 on the road (it was already apart when we realised we could get the kit quickly) for the missus.
Any suggestion that you require a full rebuild to solve the VERY common torque converter shudder issue is a straight up lie and they are taking you for a ride. Get a second, more expert opinion from someone like MR Automotive or British Off Road, both reasonably close to you.
Good luck.

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