Autoquip
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Autoquip's post in A6 2.0tdi ultra intermittent hesitation was marked as the answerHi mate. Turned out to be the crank sensor in my case. Pig of a thing to change, my car is the 2.0tdi ultra.
if your going to change it, my top tip is unbolt the sensor with the plug still on. Fit the new sensor and then plug it in. An inspection camera helps.
hope this helps, certainly cured mine.