EDL is the turned off.... Hardly ever use it.
It wont be tyres, the rears are in good condition, plenty of grip, even wear. I did get some brand new ones for the front a few days back, (the problem persisted before I got the front tyres)
I changed the rear diff oil, which made no difference. I did check the oil that came out, no shavings or anything present in the oil...
I've noticed it doesn't do it as much when rolling down hill, but when I'm accelerating uphill at low speed the juddering is terrible.
The confusing thing is that it doesn't do it from a cold start, and takes 15mins of wheel turn for it to come back....