The first thing to do is to check the gearbox oil level.
Another thought, the CVT gearbox oil has quite a short life, 25k miles or two years and your car has one of the signs of neglected oil changes, namely the juddering.
If the oil changes have been severely neglected it is possible that may be the cause of the problem. Try a double oil change to see if that helps. Get the oil warm first then change it,drive the car around then do the second oil change. It is imperative that you only use Honda CVT-F fluid, don't let a garage tell you that ordinary auto gearbox fluid will do.
I'm not sure what the cost of CVT-F is, I think it comes in 4litre bottles and you will need two of those. I guess about £60.
It may help but I make no promises.
Vic.