Ok, I know w/o being able to hear it, the sound will be tough to understand, but I'll try anyway.
My wife and I have an 08' EX-L V6. I've noticed two things:
1. there is a slight "clunking" or maybe "grinding" noise that sounds like it's coming from the front right drive axle. I've checked the CV's and they are fine. It only is audible when you turn and are going 15 mph or so. I jacked up the front end and the clanking noise from spinning the wheels back and fourth sounds the same. Any ideas?
2. There is a "shudder" in second gear. Feels like brake rotors that are warped, but only happens when you accelerate at a normal pace. Seems to happen even when the transmission is warmed up.
The transmission also jerks into drive when shifting from R to D. I know you're not supposed to, but most people shift into drive while it's still rolling slightly, well you can't in mine or it will jerk like crazy.
Sorry for the long post, but i"m trying to diagnos this prior to going into the dealership an hour away. I don't want them to give my car back and say everything is ok, only to have the transmission crap out when it might be out of warantee. Currently 45k miles. Thanks!

 

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The grinding sound could be a bad wheel bearing, or possibly a frozen brake caliper?

As for the shifting, I wonder if the engine and transmission mounts are in good shape.