I have a XV Diesel, 2012 as well.
I had a severe judder when I bought the car, so the garage diagnozed flywheel/clutch. I had them replaced (not cheap as the motor had to come out of the car to do this)
This has definitely made it far better, but there is still a bit of jerking when engine is cold and from start in the low revs...
My garage suggested Redline additive to try, cause if it is the injectors that need renovation/replacement the engine has to come out again...
So, I will try and fill some Redline Diesel additive but until now I've been lazy and forgetting it...
Good luck!
Guess we have to live with this...