Hard to start when warm

Shaun86

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So I've had this issue for quite a while now. When cold it starts no issues but when warmed up it is very hard to start.
It's been getting worse recently. Drives no issues. Been told it was flywheel rattling and not catching the starter but I'm not so sure. Video below is trying to start when warm. It will start after turning over for 10/20 seconds.

It's an a3 2.0tdi sport

Ant help appreciated

 
Car was remapped and dpf removed and didn't fix it. I don't understand how it can be flywheel when cold its no problem and it drives no issues when started. Gonna get it on a computer again and see if there are any codes.
 
That is definitely something mechanical loose or broken, doesn’t sound good to me at all.
 
Yeah defo doesnt sound good but why only when warm? :( It starts first turn of the key when cold.