Well known fault with the low torque dry clutch seven-speed DSG. These were originally filled with synthetic oil and 'sealed for life'. But the synthetic oil can become conductive and fuse the Mechatronics, so they were recalled and filled with mineral oil, which creates a new problem because that can't last longer than three - four years and the transmissions are not designed for regular oil changes. The other reason for judder could be impending failure of the dry clutch pack.