this morning I started the car.. I could feel the car felt a bit "juddery" on idel. I could feel on the pedal it was juddering. and the engine light was flashing on and off and now remains on...

it did this a couple of times in past but from switching car off and on again the light went out. however this time light is perm on.

any ideas what maybe causing this?

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2005 E53 X5 post facelift