Misfire after overrun

I have an 02 A4 Avant, 2.4l V6 auto. It has developed a gentle misfire on acceleration which normally happens after slowing down rather than from a standing start, for instance this morning after slowing down from 60 to 25mph approaching a roundabout, quite juddery when pulling away from the exit. I tend to drive with a light foot, no hard accelerating or braking and in that context it's not a major issue but is it a symptom of something serious. Generic OBD scanner does not show up any fault codes and it doesn't happen when cruising at 50-60mph. Is there a common problem, or a part that is known to fail especially with age? It's fairly low mileage, only 102000, with a full Audi history up to when I bought it earlier this year.