Hi,
The clutch on my 1.4 petrol does the same as you describe. This isn't normal, I have driven other A2s, but I would agree with chb that the take up is quite abrupt compared to some other cars. When working properly its something you should just get used to very quickly.
On my 1.4, I suspect that a previous owner may have "burnt" the clutch by slipping the clutch using very high revs e.g. when parking. The 1.4 petrol has next to no torque at low revs and it is easy to stall the engine if you aren't careful so I can see this being done. Once the clutch is "burnt" the friction face goes glassy which makes it stick more than slip so it engages abruptly. In bad cases the flywheel can warp due to overheating and this can also cause it to judder when slipping as it no longer provides a flat even surface when rotating. Contamination of the surface (e.g. by an oil leak) can also cause the symptoms.
Scary stuff over, I bought my car at 100K miles and have done 17K since. I'm still waiting for the clutch to wear out so that I can have a reason to replace it and the flywheel, its the original I believe. The first time I drove the car I stalled the engine trying to get away. It has got better over time as I have been using the car, its now quite easily pull away and drive slowly smoothly, probably as some of the bad surface has worn off. You can still tell that it isn't right as intentionally slipping the clutch causes a squeaking noise and mild juddering. At least the front of the car doesn't jump up and down any more! I tend to drive with quick gear changes anyway and most of my normal driving is on fast roads, its only really a problem moving off in first gear.
If the clutch is engaging well and has a good grip and you can adapt to it, you could simply leave it. It may get better over time. If not though you are probably looking a replacing the clutch plate and flywheel. 55K is a bit low for a clutch to wear out under normal circumstances, but the lifetime depends on driving style and road conditions.
My pendulum mount it shot too, but that causes the car to lurch when in first gear and lifting off or going back onto the power. That requires careful throttle control to drive smoothly. Not to get stuck in traffic helps too.
regards
Andrew
