looked @ last service done at AUDI dealer yeovil at 46'500 miles (now done 52'000) and the gearbox is an S tronic (hope this helps ) they changed filter and oil and could feel the judder when pulling away but no fault stored in the system when they carried a diagnostic test, so further investigation needed, of which obviously I do not want to pay out for trial and error if they have no indication of what the fault may be. It is an inconsistent fault and there are no hard and fast rules as to when it will occur tho it is more frequent than not and sometimes harsher than others