Q5 2.0 tdi Auto juddering when stopping

[Sak]

Hi all

Im a long term Audi owner, recently purchased an Audi Q5 2.0 tdi auto, 2010

Its done 120,000 and I dont have much of the past history.

So the issue:  when coming to a stop, the car jerks few times. On a few occasions the cars stalled. 

There is a mild judder on take off but after that car drives superb.

I've done a full service inc gearbox oil and filter 

Diagnostics haven't picked up anything either.

Any suggestions. Cant really afford a big bill to repair 

[Steve Q]

If you can call.audi and see what history they have on it as a start. Is this happening when the engine is hot or cold? How long do you drive before it starts to happen? What speed are you going when it happens is from x speed to stop? 

Cheers

Steve