Not sure if this is vehicle or engine specific so hopefully in the right section.

My 52 RR has just started to hesitate and judder when accelerating.
Drives ok normally and revs ok out of gear when stationary, oh happens under load.
Kickdown works fine, starts to accelerate then engine starts to misfire/judder/hesitate. All very rhythmic too.

Any ideas?

Best place to start is with some proper diagnostics. It is bound to record faults if it is misfiring.

sounds like it could be the gearbox onits way out :S if its not doing it in gear ?

also its a TD6 not a TDV6 if you have a 2002 - there both different engines