Sounds like clutch beginning to fail. I have had similar problem on my manual transmission for over 1 year now. It hasn't gotten any worse or better with time. Clutches aren't cheap so I'm leaving this alone until it fails.
2015 Ford Focus Transmissions Shutter. The dealer Will tell you it's normal But it's Not. In fact there's a law suite going on still. Your Focus should be in warranty. Talk to your ford Dealer to be sure. There's been 3 different fixes for this problem.
The first & Second fix did nothing to repair this problem. Now there's a third fix. That appears to work very well. Now with that said, Is there damage to your Transmission. Because of this problem.
I say yes, because. the transmission has had this problem since new you may or may not have know or felt it but, the Transmission was, born with problems. Also before to long it will start overheating and. the Transmission hot light will come on. When that light comes on your stuck the car will not move untill the trans cools down. Ok enough history Go to the dealer and, have them
rebuild the intire trans. With all the NEW Solenoids And sencers.and clutches. That's the only true fix.
Check for worn drive shaft u/joints and broken or soft engine mounts. If manual transmission it could be a clutch fault.
Check replace engine mounts first
after that then it indicates a problem clutch plate ( worn dampener springs in the hub or oil / grease on the faces
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