I thought this worth sharing in case it helps anyone. My 2001 3.5 petrol Pajero GLS suddenly developed a severe judder a while back. The sort of thing you'd associate with throwing a wheel balance weight. All four wheels were rechecked, and found to be OK. The front and back wheels were rotated fronts to the back, backs to the front, and if anything, it was worse. The judder only happened under neutral throttle, so would kick in when the cruise control was activated. speeding up or slowing down would stop it immediately.
So it went to the shop that does my repairs — Instant Autos in Blenheim — and they checked everything and could find nothing wrong. Next it went to Tyreland and their very fancy geometry gizomo where they found a bit of toe-in on the back wheels which was adjusted out. Everything else was OK, and the judder continued.
Next it went to a 4x4 specialist who also couldn't think of anything, and the problem persisted. It got weird here, as after a round trip to Nelson and few Ks local, the issue has got a lot better all by itself, and is definitely livable with now, so I can only put it down to tire wear. The tires are a half way on and off road tread and of good quality. They cost me $250 each. So my conclusion at this stage is that these tires are not a good match for the Pajero. I can't tell you what they are at the moment, because my wife has taken the Paj to work (yes it's Christmas day, but she works at Wairau hospital. I'll put up a picture of the tires later if I remember.