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Welcome, I'm Chris (aka Moose) I'm an independent contractor here at Just Answer.
The shuddering if it feels like a vibration and its hard to tell if its the front axle or rear axle doing it. It is likely the rear axle limited slip clutches grabbing to much. Try servicing the axle oil and use friction modifier. Do you still need help on the other concerns or were you thinking they were causing this?
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why would the rear end need serviced already. Why is it a rebuilt title?
1278 means the steering angle sensor reading is not correct. When you did the repairs did you use a scan tool to calibrate these sensors?
05A5A means the PCM is not getting a charge reading from the alternator/generator.