I had exactly the same but on my Mini Countryman at 38k. It would also judder on the motorway with the cruise control on occasionally. I was lucky as I bought it from Mini as a used car and they replaced to whole drive train under warranty. Dual mass fly wheel and full clutch assembly. Unfortunately the dual mass had damaged the gearbox which was also replaced under warranty. Glad as the bill was circa £6k so sometimes its worth main dealer and some times not. All depends on age, price and any additional work which could be covered!! I got the Mini TLC XL pack so 80k or 8 years old whichever comes first
I keep telling my other half not to hang on the clutch in our auto. I've told here to either stop or go, but not to dither about in between. I'm not sure whether she understands though. This is the problem with semi-autos, most drivers would know they were chewing the clutch using a clutch pedal, and a traditional auto would take it for ever. But a dry-clutch auto will happily grind the thing away if you just hang on a hill with it.
I'm fully expecting a big bill at some point, after which she might understand.