Try a new set of Spark Plugs, I would recommend the Denso Iridium ITV16's. Just avoid the Bosch super 4's
For any plugs make sure they are gapped at 1.0mm
I have found that my car runs a lot better on premium grade fuel, as well as the judder it would occasionally misfire when pulling away in auto mode.
Good plugs and good fuel fixed it for me.