Hi I have a Rav4 2006 2.2 t180 with the same problem. It is intermittent, mainly noticeable in first and second gear but it occurred in third as well. I do mainly short journeys in the town and once a week 60 miles on motorway. I have so far replaced all filters , transmission oil, transfer box oil, gearbox oi,  engine oil, fitted new MAF sensor, cleaned EGR valve and  I only use Shell v power diesel. I had this car for 7 months now with 105k miles on the clock of which I did 6k so far. The prob