If your car is DPF equipped then this could be your problem
Do you have a trip computer where you can see your current fuel consumption ?
I think this could be a constant regeneration due to clogged DPF (and this will not always give fault codes) , since the regenration doesn“t happen until the engine reaches above 60 degrees celsius.
To test this drive the car from cold on a nice strech of road (as little up&down hill as possible) , drive with a constant speed and watch the consumption , as soon as the engine warms up (or the jerkiness begins) look if the consuption increases (mpg drop) if it drops by like 10-20 mpgs then this is regeneration and it will make the engine behave lika e stumble , misfire during normal cruising if this is the case then you will have 2 choices , get the dpf cleaned / changed and eolys topped up (expensive 400-800 £ ) or get the darn thing removed by a good tuner (less expensive but will still set you back 200-300 £).
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