Focus s 1.8 tdci juddering when I low reves

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The car has stareted to judder in second and third gear in low reves it don’t always do it. It starts to do it when the engine gets to temperature it can drive fine then u change down gear to go round a corner then when u accelerate it judders a few times in between 1-2 thousand revs it has no warning lights on it’s been plugged in to garage computer and all the injections are good. And sometimes has a rough idle 

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