judder in reverse gear
 

hi all

happy new to you all.me and my wife own a 4.4 2000 x5.its been a trouble free car,and fun to drive.over the weekend i have noticed a judder only in reverse and it only does it when its warm not when cold.doesnt do it when in D.there are no lights on the dash to indicate any faults.the mileage is 123000miles.just had a service at 119000.

can anyone help?