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Sam,
The shudder is probably the result of increased load on the engine when the A/C compressor engages. My 95 944T shudders slightly every time the A/C compressor cycles on. It's done it since the day I drove it off the Volvo lot back in 95. So, the shudder doesn't mean you have a serious problem. Your idle seems a bit low and that may make the effect of the A/C compressor kicking in more noticable. Idle speed should be around 750 RPM with AC off and about 900 RPM with it on. You might adjust the idle and see if that helps smooth things out.
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