Focus 2005 2.0 tdci.

Car drives fine when cold no judder but once driving for about 20 minutes the car starts having trouble pulling away unless I give it higher than normal revs, If I don't rev it I get judder like its ready to stall. Has anyone else had this problem and found a cure.
 

It could be the egr and intake are clogged up which would require a cleaning out and sometimes a new egr valve will be required.

Thanks for the reply, I forget to mention that I have cleaned EGR(although it wasn't sticking or clogged), changed MAF Sensor, fuel filter, air filter.

Just seems weak as the clutch comes up, like these not enough power to move the car

Just took for another spin, and drove ok at normal temperature, also pulls away from standstill with out accelerator as a diesel should but give it those extra few miles where the temperature is high under the bonnet, the ability to pull away without accelerator is lost and judders as the clutch is lifted. Could it be one of the sensors getting hot and failing, if it is which one is likely to give these symptoms?
Maybe someone else has had a similar problem

Just to add there are no codes no engine light on