Yes. A worn inner CV joint, damaged axle shaft, or an axle installation problem can contribute to vibration or shuddering. Some axle-related concerns are most noticeable under acceleration rather than while coasting.
That pattern does not confirm the diagnosis. Mounts, tires, wheels, and other drivetrain components can produce similar symptoms.
Tell Certified Transmission at 569 North Mo Hwy. 291 in Liberty when the vibration starts and whether the axle or suspension was recently serviced. Those details help guide checks of the axle and related components.