This should not be the case. The acceleration shudder on Model X is well known and there is a TSB on the issue: Tesla Has New Service Bulletin On Model S/X Acceleration ShudderIt will come back and out of warranty you are on your own....just beware
Tesla service should replace the half-shafts, and if it ever comes back, it should be covered as a recurring issue...Tesla recognizes that replacing the half-shafts is not a permanent fix, as it was a design flaw and now they have to service the issue for the life of the car, or until a permanent fix is developed.
I had this issue at least 3 times on my X, and the foregoing was said to me by several Tesla service employees at two different service centers.