I have been looking all over the internet to figure out what is wrong with my 2002 CR-V. When I'm in 3rd or 4th gear accelerating slightly, my engine hesitates or shudders when it's between 1500 and 2000 rpm. If I let off the accelerator, it goes away and runs normally again. It only happens when the engine is warm and when I'm running on a flat surface or maybe a slight incline so not giving heavy gas. It never happens when the car is under a heavy load like climbing a hill or accelerating quickly. I just changed the 02 sensor because I've had an error code for that but it still shudders. The airfilter is clean, I just changed the spark plugs recently thinking that might be it but it still does it. Other then this small problem, the car runs fine. Anyone else have experience with this sort of problem? I'd appreciate any input you may have regarding this.