CVT shudders accelerating from park but not in manual mode

[CC_2023]

I have a 2012 Subaru Legacy with the 2.5L and it has the CVT transmission. Starting on 6-3-2023 it began to really shudder accelerating from park. This shudder only occurs at that time, and once it gets out of first gear it appears to be fine. Accelerating and decelerating after that operate as normal. My Subaru does have a "manual" mode where you can use paddle shifters to shift. I noticed if I accelerate from park in manual mode there is no shudder. However, when I tried to use the manual mode it threw a P0700 code.