After the car's been driving for about a half-hour or so, the clutch petal strats to feel like it's grinding on metel...and it shudders when I'm startinf from a dead stop. The clutch doesn't slip at all. Do I need a new clutch or is it something else?

 

check your fluid levels.
Might need to adjust the pedal
If anything, bleed the system and see if the problem persists