Just purchased 1999 HRV in immaculate condition with only 28,000 verified miles. Only issue is when initially pulling off the car shudders/vibrates occasionally but only for a few seconds then drives perfectly. I've heard comment of transmission fluid and filter? Is that possible?

It may well be the clutch plate is slightly dragging (probably due to very little use over the years)...putting some more miles on it should cure that issue.

Another thing to also consider is replacing the rear differential fluid as this can lead to similar issues (use only genuine Honda fluid)

Thanks. Will give the differential fluid a go and if clutch maybe time will tell.