I have the same problem, it is sluggish and juddery when cold, but as soon as its warm its ok..but when pulling off at low revs its struggling.......ive changed the coil packs and spark plugs and also cleaned the MAF....but i have one more thing to try this weekend. There is a great video on you tube showing you how to clean the ICV idle control valve... seems to be the top of most peoples lists when it comes to this problem.