Slight 'judder' in reverse with light acceleration and once in Drive.

[mwilson]

On my Audi A4 B6 2.4 6V Automatic.
On a couple of occasions in last week I have noticed a judder when in Reverse and slight pressure on the accelerator.
Once on a hill, once on the flat.
Never when in Reverse and car moving under own power (no pedals).
Connected to this I also had one instance of this judder, on a separate occasion, when moving off in Drive with light acceleration.
Aside from this the car is driving beautifully.
I'm sure this means something but before I take it in...and suggestions?
Thanks.

 

[mwilson]

also to add...On the few occasions it has happened it has been first thing when starting off from cold...wonder if that means anything...

 

[mwilson]

and car has done 136k so you would have thought any of the cvt issues would have happened long ago...