Sorry to bring up an oldish thread but i spotted that K9Audi had the exact problem i've just resolved.
The juddering on idle.. is it usually accompanied by slightly higher revs (1k) If so its the DPF doing a passive regeneration.
Assuming you are doing a couple of long trips it could be that...
Sat in Audi Nottingham now..
Just been told mine do need replacing '06 170 A3 Sportback.
They say it takes 2 hours to check (assume this means that have to remove of the injectors to read the serial, although surprised they can't just get the info from VAGCOM)
Another 2 hours to replace them...
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