I had a bad shudder, jerky acceleration but I don’t believe it was as bad as yours. My scale would have been a 5 while yours sounds like an 8.
Also had this feeling that I was driving over rumble strips at 30-40 mph.
Thought the jerky acceleration was actually normal because of the bad rap cvt’s had for many years.
Hoping for the cheapest solution?
Do a drain & fill.
Maybe use some cvt additive (never tried)
Ever since I did my first drain & fill at around 87k,
I know, real late in the game.
…..my rogue has been driving smooth as butter for several years.
Also change the diff & transfer fluid.
Maybe fuel injectors cleaning since ethanol gas is crappy.
Clean throttle perhaps. MAF sensor etc.
Loose or cracked hoses.
Old spark plugs & coils.
Original cvt transmission for nearly 14 years here.
I consider your hybrid still pretty new to me at least even though Nissan discontinued it.
Nissan vehicles are pretty much a crapshoot in reliability.
Good luck.