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Drivetrain Malfunction

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For those of you with the N54 engine, has anyone else had this issue?

Car started shuddering all of a sudden at a stop light, pulled over. Turned it off, and when I turned it back on, everything was back to normal, but the message popped back up. Per dealer they said it was OK to drive to dealership.

"Found fault #140501 for Cyl #5, Swapped coils and cleared fault. Test drove..."