I am having similar problem with my Auruis hybrid 2011. It's done 40k & serviced recently with oil,filter, oil & plugs change.
when cold start, petrol engine starts with judder, misfire & knocking. When it warms up than misfire, knocking reduces to minimum but engine runs hunting revs. ( high/low) No warning signs or codes on dashboard. Otherwise all seems normal with hybrid system & drives fine.( when petrol engine kicks in, it feels little rough due to engine revs)
Please can someone with similar problems shed any light or correct diagnosis/repairs?