Louiseh

Hi really hoping someone can help me please. So I bought a 06 Q7 absolutely love the car, but have a issue with it changing up the gears, it seems to be julting into the gears it drives absolutely fine when the car is cold, but soon as its warmed up it feels likes I'm getting hit up the !Removed! in every gear change. I've had a gearbox service, then a week later had a machanic come out to have a look and he noticed that there is gearbox oil in the TCU it's been cleaned and still doing the same, his machine was showing P0720 & P0715 codes. Any ideas what this could be, am I going to need a new gearbox? Just hoping someone can tell me this is something I'm going to be able to sort out.