steering wheel shakes at slow speed

It sounds like we have a similar problem. I have a 2014 Altima 3.5sl with 23k miles and ever since I got the car new my front wheels and steering wheel would " shake, sputter, like a 10 speed bike shifting gears and the chain is skipping into gear...etc". My car generally did this at lower speed under 30mph and under 2000rpm, closer to 1000rpm. This was my 5th time taking it to the dealership for this issue and after getting the run a round I'm FINALLY getting a new transmission. I was told everything from " it will work itself out to the issue has to happen 3 times in a drive cycle for it to register on computer... More reasons why, but no answers. Hope this helps