Shudder...literally!

[g300d]

I am observing a shuddering situation on acceleration in my X5 3.0 auto.

Accelerating from a stop, I feel A shudder just after the car starts rolling. Just 1 very slight shudder from the driveline. It sort of feels like the mild jolt of lagging flex disc, but if it were the disc I would imagine the jolt should come right between pressing the gas and actual movement of the car, not after it has started rolling?

It seems to be a vague sort of slop in the driveline now, most noticeable symptom is still the slight jolt on acceleration.

Most noticeable when accelerating slowly, it seems to get masked on fast acceleration.

Seems normal at higher speeds as well.