Thanks Lucas,
I think you're right, it has done over 180,000 kms so I'm expecting that is the clutches that will need changing.
The mechanic at VW was very helpful and is going to try a software change next week. He said that it won't fix it but it can improve the shudder. I will wait for their diagnosis before doing anything.
I am thinking of tackling the clutches change myself. I have done a bit of research and there is an excellent video on Youtube on it by an Australian company, this is the link to the video - CLUTCH TECH: Dual Clutch Transmission Clutch Assembly Removal and Installation Guide - YouTube They sell the kits for the DQ200 and you can get them from Autobarn for around $850, better than the $3.5k that VW are talking about.
Has anybody used these kits, any feedback would be appreciated.