I had the same problem on my '05 DL1000 which I bought new. I can't remember when the judder first happened but it was well into the life of the machine, possibly at about 15000 - 20000 kms. The judder didn't happen at every pull-away but would often happen on an uphill. It wasn't possible to induce it but it would happen at least once every ride. I always used the same semi-synthetic oil from new, but at the 84000 km oil change interval, I changed to Castrol Actevo. Since then the machine has done about 500 kms without a hint of a judder.
I don't think it's a wear problem on the clutch assembly - the oil drain magnetic plug has no accumulated debris when inspected at the oil change. I have the filter inspected at a laboratory occasionally and the contaminants are negligible.
The engine seems to be in good condition - the oil consumption is almost nil. I inspected the valve clearances recently (first time since new) and was surprised to see the exhaust valve clearances still at specification and the inlets only marginally under specification. The only tricky part was refitting the valve cover on the rear cylinder - there's not much space to manoeuver the cover and gasket with the large wiring loom causing obstruction and get the semi-circle seals in place.