My BA XR6T 03 Auto 83000k has noise/shudder from the rear of the vehicle, like something grabbing then releasing (could also be described as a dull or muffled grinding then releasing) when turning the vehicle at low speed, either forward or rev - more noticeable I think in rev, noise not present when vehicle is cold such as first thing in the morning, could this be the clutch packs in the LSD, if so is this normal, also have a noise which sounds like "something rolling around in the boot" appreciate any information

Diffs don't stay cold for long at all. The hypoid angle sees to that.

Sounds like tight diff clutch pack grabbing and releasing.

Put some Castrol SAF-XA in it with either the Ford additive or better still some Nulon diff treatment.....that will end the noise.