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VW/Passat 2007 140 TDI DSG - Kangaroo Jumps - SteveMM

I have a 2007 140 TDI DSG. 40K miles on the clock. At around 1000 rpm the car lurches in little kangaroo jumps. Main dealer can find nothing wrong with diagnostics but acknowledges problem exists with the car. Car also occasionally stalls when starting in reverse after a long run. Fuel filters checked and clean. Any ideas?