These engines suffer quite badly with carbon buildup (due to the EGR system) in the intake pipes and intake manifold which is well known to cause hesitation and stuttering when the engine is cold and/or light throttle.
Id say there is a fair chance that this is the issue you are experiencing.
Its the same case with the V6 TDI in my Audi SQ5 which shares some similarities with engine design to your car. My car has 95,000km and ive cleaned it 3x times as well as fitting a catch can which has helped slow the issue down.
You can remove the parts yourself and clean with carby cleaner but its a messy job, otherwise you can have the service done by a mechanic but obviously you will pay handsomely for it.
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