Bump / Judder when stopping

[ibby4872]

Hi guys
I have a 2015 Audi a7. When coming to a stop most times I get a bump or judder. Sometimes worse sometimes not noticeable.
I have just got this car so new to these automatics.
sometimes after a long drive I won’t feel this but in the mornings after a cold start it’s very noticeable.
Can anyone shed any light to me.
thank you

 

[AudiSport]

Does it feel like a gearbox ‘thump’ or something else? Interestingly, I do find my A7 difficult to stop smoothly. Apparently it’s something (according to the internet) to do with the cruise control getting involved!