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This is a problem that many PD engine have seen. See this article on how to check for worn camshaft lobes, worn lifters, and how to replace them. All PD engines that were sold in the US are about the same so they're all covered by this article. The Touareg is the exception, I'm not sure of the differences because it's a totally different engine.
http://www.myturbodiesel.com/1000q_how_to/multi/camshaftInspection.htm
http://www.myturbodiesel.com/1000q_how_to/multi/camshaftInspection.htm