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Engine Malfunction

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Hi guys
I have a diesel ford focus tdci 2008, I've noticed when I drive long distances, (Northampton, Slough, London, for example) it comes up with a noise and the 'engine malfunction, sign comes up. I usually pull over and turn the engine off and then start it back up again a lnd it drives fine..But why is this happening?
I also notice when I drive long distances Il be smooth cruising and them might get a slight judder,when I feel that, then I know that stupid light is going to come on...any help would be greatly appreciated
TIA

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