Intermittent fault

Hi hoping some can help, I have a Audi a3 8v 2.0 tdi 64 plate. The car has been to several different garages and a specialist diagnostic centre and had four different sensors replaced ( cam sensor, lambda 1 and 2,dpf pressure differential pressure sensor) and we still have the problem. The problem is a intermittent issue where the engine seems to cut out for a millisecond at any amount of revs or temperature but never while idling. Occasionally goes it limp mode. The car does plenty of long runs. Any help would be appreciated as it’s just dangerous when it happens when pulling out of junctions and stalls in the middle of the road.