Intermittent jult

Hi.

I have a kodiaq 2017 model from new.  It has 132k on the clock and well serviced.

When I start car I can travel any distance without issue.  As soon as I leave the car say for an hour and start the engine again and drive off after a short while  the car will jerk and kangaroo, then go into limp mode.  Diagnostics initially suggested a NOX sensor issue so had this replaced.  It did not solve problem so not sure what the issue is.  I need to get it diagnosed preferably when the limp mode has been triggered (unless the ECU remembers the fault codes).  So just a general shout out to see if any of you good people have experienced similar.  Thanks in advance.  H