I had both the shudder and crunchy noises as well, last year they told me not to accelerate with the suspension in high settings
. This time as I saw the new part numbers on this thread and I am nearing 50000 miles I brought it in again, made the service tech accelerate and confirm the shutter on normal suspension height. They replaced the half shafts...
JACKSHAFT ASSY, FR(1030632-00-A) 1.0
HALFSHAFT, FR RH, MODEL X(1027115-00-D) 1.0
HALFSHAFT, FR LH, MODEL X(1027111-00-D) 1.0
Maybe reach out again or try a different service center....