Having done my own research into it at the time it relates in most instances to the automatic transmission fluid is past its best and the clutch brake is sticking when the car comes to stand still. When you then try to pull away the brake does not disengage in time and you get the sudden judder and shake of the car. As you can imagine this will probably not do the car much good in the long term so the solution is as follows:

1) Buy official Honda Automatic transmission fluid. This will either be Honda CVT Fluid or Honda ATF Premium fluid. Your Honda dealer will advise the current recommendation.
2) Drain the transmission fluid as follows:
2.1) Bring the tranismission up to normal operating temperature. Drive the vehicale to do this or run the engine until the radiator fan comes on.
2.2) Park the car on a level surface and turn the engine off.
2.3) Remove the transmission drain plug as pictured below and drain fluid into a suitable container.

2.3) Reinstall drain plug (or new one if it looks damaged/corroded).
3) Refill with the transmission fluid from 1) to the recommended level

You should then find the HR-V’s shudder/judder has stopped. If you still experience the issues then the transmission will probably need to be looked at by a qualified Honda technician.

Good luck and let me know if this helps anyone.