Indeed this looks (and sounds) strange... I am assuming you did not get any warnings about your transmission? For example if the oil level is low then this will get displayed on the dash board.
Do you have access to a VCDS diagnostic tool? This is commonly used on VAG cars to diagnose and change settings.
Personally, I would do a gearbox oil change (assuming this was not recently done) as that is a fairly simple procedure, and by gearbox oil I mean the ATF which is recommended by Audi to be changed every 40k miles. There are several guides online on how to do that
There is also MTF in these gearboxes, which is supposed to be "maintenence free" and that is more complicated to change, I have not seen any guides on how to change the MTF fluid, the so called "mechatronic" is using that fluid but before changing the MTF I would do a VCDS scan.