UPDATE:
So I changed all 6 coils and plugs today and that seemed to do the trick! As a note for others in the future who may be changing their ignition coils and spark plugs, I just followed this post
https://x3.xbimmers.com/forums/showthread.php?t=1131028.
And because there is a lot of misinformation out there: no, the N52 engine does not need a thin walled sparkplug socket, I just used the normal spark plug socket in my toolbox.
The plugs looked fairly worn when I pulled them out, but nothing too crazy. However, one of the ignition coils had what looked to be the internal spring that was busted and was preventing contact with the sparkplug. I have no idea what would cause that, but what I do know if that my car no longer has the weird shudder!
Thanks everyone for your inputs. Goes to show that sometimes it is just the simple answer.