I had mine replaced (2010 S4) at no cost due to a CA emissions warranty which was awesome news. I had the horrible bucking from 2nd to 1st (would get increasingly worse if sitting in any traffic). There was a software update available that Audi release to help with this issue. One night I got the notice on my dash that said that there was a transmission malfunction but could continue to drive.
Brought her in and they found that the much unit needed to be replaced. Below are the error codes found. Took 2 days to get my car back but all issues seem to be long gone (at least for now).
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