my clutch is shaking and vibrating when I get going in the morning

If the steering wheel is also shaking when the shudder occurs, suspect a worn inner cv joint housing or universal joint. The shudder will be worse under acceleration.

A worn clutch will cause a shudder when you engage it to take off. Oil or coolant dripping onto the disc can create problems too until it burns off as the engine warms up.

Either problem can show up or be aggravated by a worn engine mount that allows the engine to sag. That will change the angle of the two half shafts and the drive shafts.

Confirmation Auto or Manual transmission?

Manual! it has a Clutch not a torque converter

Sounds like clutch shudder, where is the take up when you release the clutch? how far up is the pedal that is when drive takes up? how old is the clutch in Mls to the best of your knowledge?

theres 171000kms on the clock, and the take up is about half maybe 2/3 of the way out.

Also how do I get better fuel economy out of my 97 RAV4