I have recently came across this issue immediately after I had my heater core replaced. My RPM's would rev up to 2000-2100 RPM's on a dead stop and would not allow me to move forward until the idle came back down normal. Mind you, it would rev up and stay up at 2000 (plus) RPM's for a good 3 seconds, or so, and then find its way to idling down.
I took the car back to Audi where they performed a software update. Initially, this did nothing and the problem was still there. The next day I took the car back the dealer, where they kept the car for a few days and performed a series of test, but found nothing. While they were running these various test and checking everything thought possible, they were also awaiting a new software from Audi (Germany) who sent them two different forms of software updates. One was for the ECM (idle up issue) and the other was for DSG Temp Sensor. I would randomly feel like my gas pedal would black out and not want to accelerate on command. This issue would present itself once in a while, but I knew this wasn't normal either.
After the software updates, my RS5 felt like they tuned it with some sort of APR type tune. The gears literally shift with so much more precision and quickness that even in comfort mode, you feel the difference on the acceleration. I guess if I had to explain it best, the car feels like it has so much more torque. The throttle response is through the roof and I personally could not be happier. I would strongly suggest you all to push your dealer to find a solution, especially if they tell you that this is normal. IT NOT NORMAL, trust me.
If a software update does not solve your issue, then you may want to look at these note below. I was given this information from a friend who's issue wasn't a software update and was his crank case ventilation valves. I hope this information solves your problems.
Just check the crank case ventilation valves next to the throttle bodies. I had a diaphragm fail in one and did create an idle up issue. Not as bad as yours though.
It's not normal. The idle up was minor on mine until the diaphragm on one of the crank case ventilation valves let go. It then idled up quite a lot as it was sucking from atmosphere. These valve numbers are no superceded. I now now why.
But I would check if you can here them sucking at idle and by putting your finger over the vent on the back of the valve to see if it is sucking your finger.
The other thing might be that a vacuum leak will upset the throttle position. Which is why the car doesn't move at that high idle speed because the throttle position is reading 0%
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