Mike,
Ben from SoCalEuro 2011 at Qualcomm stadium with the group of 3 RS6 (Riccardo's 6speed RS6, Dennis, Mine), Tony's S6 avant there and Chris' stage 3 A6 (just to jog your memory)
Well pick your poison on this topic but here it goes:
Audi states the ATF is permanent on the transmission, I call bollocks to that... but your mileage give me, and I am sure others, pause.
It is well documented on "another site" that when the tippy transmission fluid it changed at high mileage, and assuming it has never been changed, you are in for either a transmission failure or a torque converter failure shortly there after.... not always the case...
I changed mine at 36k at a shop that had no clue on how to changed it but it was local and this was before Pure MS was in San Diego. After about 14k miles, shifting was acting up and holding high revs and there was a mystery leak, I took it to Mike/Tony at PureMS. Shifting much better...
Do you have odd shifting or something that would make you want to change it out?
I just do mine at 20k miles as preventative maint to the "achilles heel" of the RS6..
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