Juddering in reverse

Hi all and thanks for letting me join. First time owner of a disco and i love it! I'm getting a juddering when i reverse and i'm a bit concerned the auto gearbox is on its way out. Its the first time i have owned a automatic diesel before and its not like it happens once every so often. I have topped the gearbox fluid up but haven't checked the diff levels yet due to the bolt heads being chewed up. I have ordered a new set and should be here next week at some point so will have a look when they arrive. Also is it normal to have quite a bit of lag when pulling away from a standing start? I appreciate any help given and thank you in advance.

First place I'd check for a juddering in reverse is the handbrake drum .. the shoes often stick ..

Cheers mate good call.