It's almost certainly a bad CV joint which is well on its way out. I had exactly the same symptoms on my T5 C30. Shook badly on any acceleration but at a constant speed (as on the motorway) it was fine. When it went in to be fixed, the CV joint almost fell apart.
Regards
John
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Past : 96 855 T5 CD ruby red, 98 C70GT T5 coupe Saffron, 04 C70GT T5 convertible Navy
Present : 95 855 T5R Gul Yellow
08 C30SE Lux T5 Polestar
11 C70 Solstice T5 Polestar
19 XC40 T5 R-Design Polestar
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