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Yes, get the transmission serviced and monitor results. Gear changes should be noticeably smoother unless the transmission has issues with the valve body or a change solenoid. If the ATF pan drain and refill does not resolve the shuddering, then get a transmission specialist torque to diagnose and repair.

I don't know tbh.. What do I do about the torque converter shuddering at 60km/h? Do I just get the trans serviced and see how it goes, would it fix the issue? I honestly give up should've bought a corolla...

Hi, did you manage to sort this, had this a couple of years ago and ended up being the suction control valve on the injection pump, but ran the truck out of fuel and now having the same issue. The truck cuts out then, prime the lift pump and it starts again. 

Sealed transmission essentially means that the transmission does not have a dipstick. The U660E transmission fitted to the Toyota Aurion has a 24mm fill bolt and a drain bolt with a 6mm hex key. Your vehicle is more than 10 years old and has travelled more than 100,000 miles [160,000 KMs]. If you want the transmission to last, then replacement of the ATF is recommended. For your specific vehicle, based upon my DIY experience and lots of internet research since 2016, I would be just doing a pan drain and fill. At this stage, Definitely NOT a transmission flush to replace all of the fluid. Easiest method involves an accurate measurement of the drained ATF [at ambient/room temperature] and replacement with an equivalent amount.  Repeat the pan drain and fill annually for the next 3 years. Following link to other threads in this Forum will give you more information about replacing the ATF for the U660E transmission.  

Oh? Where did you get it done. How's the car going so far?