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Sounds like the EGR Valve needs replacing. My 420d was hesitating, even if you cruised at 50mph and then decided to increase speed it would hesitate.
Although what made me visit the dealership was when it did it as I was going round a roundabout, it would feel as though I the car was being held back.
It went in and they found the EGR Valve was sticking, so they replaced it.
I have just had my EGR Cooler replaced and haven't noticed any downgrade in performance and if anything, it felt smoother!
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