Haldex will partially engage depending on various conditions... its not 100% reactive meaning its not waiting for the wheels to actually spin but will partially engage....
Interestingly while looking through my logs I don't believe I have seen 100% engagement....
On a log I took while on a road in Mexico I was doing a rolling start in first and the highest clutch engagement I saw was 88% as I part throttled up a small incline before burying the pedal
View attachment 166682
Interestingly as I go through the gears haldex engagement drops away... this is with a HPA controller fitted
Juddering is normally down to worn clutch plates or a faulty controller... you can't flush the haldex but you can take it apart to clean... I have done this on a spare diff and there is some info and pictures on this in my build thread... which you have no doubt read at least twice by now
<tuffty/>