I’ve had this exact problem and it’s getting worse, shuddering and juddering at low speeds. Done a lot of reading on this and I think I need a carbon clean out. I removed the MAP sensor and cleaned it as it was totally caked beyond belief, didn’t make a difference and I think I need to clean out the EGR valve, bypass valve, EGR coolant tank and anything else I can. I found a video on YouTube of an Asian garage removing the EGR valve and cleaning it. Looks like I would be able to do this myself so I will give it a go. Someone suggested I buy an ultrasonic cleaner tank to sit parts in as well, although at £100 it’s quite expensive for one use. My car had done 102000 miles.