Weird Shudder in My FL2 TD4 HSE A/T

When I turn sharp and accelerate, I have a weird shudder going through my vehicle. Doesn't happen all the time but it is very noticeable even for passengers. The best I can explain is it feels like the wheels fight each other, no CV knock is evident.
I have been under the vehicle to check diff and haldex oil levels and both seem fine. Had the wheels balanced and realigned. Cant find any play on the wheel bearings. Checked suspension bushes and all seem ok. No diff or bearing wine is evident.
Has anyone got an idea what I could check next or what other options I can investigate?
Thanks in advance

Unplug your haldex ecu and retest

The torque converter has been known to play up. Try adding some Dr Tranny to see if it goes away. If so, start saving for a new torque converter and a fluid change.

Hi there i have the same problem with my f/l 1 it only vibrates when i accelarate any ideas i changed the n/s/f drive shaft it helped a wee bit but its worse than ever now any suggestions guys?