Is it normal for the gears on a 2012 Ford Focus estate to not engage very quickly at low speed?

I've owned a 2012 Ford Focus estate 2.0 TDCi for 5 months. Occasionally, when in low speed, the gear is not engaging fast enough so the car is revving up, shuddering and losing its power. Is this just what this gearbox is like, meaning I have to bear with it, or is something is deteriorating/broken?
A 2012 should have had its fluid and filter replaced after 3/4 years and that might be why it is malfunctioning.
Answered by Honest John on

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