Ultimately based on the quote , judder through steering and pedals to the extent you describe is NOT right.
Time for a dealer visit , some early cars did have a recall , so itd be worth checking.
As a side issue though , I do get (and have had my car in at the dealers) for what I consider to be excessive 'noise' when pulling away with increased load.
Its like a 'thrum' which can be modulated by clutch level and throttle position and its reproducible.
The dealer said it was normal , and I have learned to live with it.
Interestingly if you drive at 30 then apply load , and gently take up slack in clutch pedal you can feel a vibration.
This is apparantly normal too and down to the Dual Mass Flywheel. If you then vary load the vibration changes!
Dont do this too much as its riding the clutch which may cause problems in itself.
I ran the car in properly and dont hang about

and it hasnt changed since day 1 and Im now at 6000 miles. So if it does change I will be back in the dealers.
It all feels 'wrong' to me , but apparantly not!
VW seem to have made a good job of isolating the engine.
I think if you add the variance of alignment of eng mounts etc thats where the diff come in
I want to go to Awesome and get the dog bone insert and see if that makes it worse or better.
JohnO