Scan for fault codes followed with checking measuring blocks for misfire and lambda values should point you in right direction. Small air/ vacuum leak could be causing this, also IIRC idle stabilisation valve can get clogged up and sticky on AAH, cleaning with carb/intake cleaner or even WD40 usually helps. If you have VCDS you can also activate and exercise it when cleaning to make sure cleaner gets in all parts of it.
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Currently 8less
2011 Q7 S Line 3.0TDI, 2016 Tesla Model S 90D
8 history:
2006 A8 Sport 4.2TDI quattro SOLD,
1997 S8, reached end of life with gearbox failure
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