Welcome to the forum. I think I'll move the post in a minute to the D40 Engine section.
I'm not sure that the 2012 ST models had escaped the EGR valve issues and if the EGR is open at low RPM then combustion isn't going to be as smooth as it ought to. A faulty EGR valve will cause this - but you can block the EGR almost completely to overcome this (EGR is for emission control, and dampens the combustion process).
It might also be a dirty MAFS in the intake - you don't say whether or not this started suddenly or it gradually reached this point. The MAFS is a delicate and expensive ($400) sensor that sits in the rear of the air pipe just outside the air filter box, and it's easy to clean with electrical contact cleaner ONLY (remove sensor, clean, allow to dry, reinstall).
You might also have air in the fuel line. Possibly a slightly misplaced seal in the fuel filter, an under/overtightened hose clamp, deterioration of the primer bulb. Easy to diagnose: reach under the filter and squeeze that primer a few times. If you go past 5-6 squeezes and it's still not firm, or if you can feel cracking in the bulb, there's your culprit.
Open the bonnet, start the engine and have someone tap the throttle so that the engine RPM goes from idle to about 1500 and back to idle. While they're doing this, inspect the arm coming out from beneath the actuator on the turbocharger (the gold horizontal disc thing). The arm should move quite freely while the person is doing that. If not, your actuator could be damaged, or the components that drive it could be damaged (there were issues with this too).
There are other possibilities. Does it only happen when cold or hot? What you say "low rpm", exactly what RPM range are we talking about? Are there any new noises coming from your engine?