Its strange.......i have a Q5. I purchased it privately a few weeks ago. I thought it pulled in 1st a bit longer then it should and when going from 2nd to 1st it felt a bit rough. My mechanic seems to think the car is perfectly normal.
Seller did mention the gear box service was not done. I have had the service done a few weeks ago and it seems that the gear changes are much better but not perfect.
I have had the car plugged into a diagnostic machine but no faults identified.
On another forum someone mentioned they have had a similar issue since the emissions recall from audi. Not sure how credible this is.
Mine is a 2011 so not sure if there is a gearbox software update???