A number of things could cause judder, it will typically either get worse or better. Failure to engage 1st or Reverse occasionally, whilst standing, requiring a re-clutch to engage is normal. The gears are not spinning, and the splines happen to not align, so it won't go into gear. Re-clutching spins them up so it's easier for the splines to slip together, though sometimes it also results in a brief grinding.
@Aebous; A car would probably not jump if the clutch is worn. It's more likely the CDV is confusing your technique, causing you to mis-judge the bite point and coordination of the throttle at the correct time. You may need to relearn how to shift with a CDV, deliberately slowing the process, finding the bite point, engaging it slowly while applying throttle. As you start speeding up your shifts, you will find a point where you are shifting faster than the CDV allows. Either remove the CDV or don't shift faster than this.