2003 Questions for all other cars juddering and loss of powe

Ldv Pilot Van 1.9 l diesel. When reversing from cold in the morning, the van judders in reverse. Moving off in first gear, there seems to be a loss/levelling off of power just b4 changing into 2nd, and when in second the vehicle judders as revs are increased. Juddering eases off if you drive through it. The juddering is intermittent but seems to happen when increasing revs with the engine under load and after a gear change. I have no problem selecting any gear, and I have had the back of the van on axle stands and gone through the full gear range with no problem and no juddering. The juddering seems to come from the rear of the vehicle. Have inspected all U joints on the 2 prop shafts and they seem fine. There is about 1/8th inch vertical play in the centre prop shaft bush/support between the rubber and the metal frame. Any ideas