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Thanks, but it feels like the engine juddering not the actual car if that makes sense?

Hi, I am new to freelanders, brought a 2001 TD4 auto, runs really well but ive noticed if im doing about 30mph and the revs are about 1500-1700rpm there is a slight judder. if I accelerate it goes and if I ease off it goes but if I stay at that speed it continues and living in a mainly 30mph...