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My 2k2 did the same thing when I picked it up with 28k on the clock. I finally took it to the dealer to diagnose. Turns out the dual-mass flywheel was failing and parts of the clutch material had released (about a half inch ring all the way around one side).
Flywheel was replaced under warranty along with the RMS. Clutch parts ran about $600.
This definately fixed the problem in my case.
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