Sorry but that does not surprise me at all, AUDI are in total denial that any issues exist, I have even tried dealing with Germany but they put you back to Audi UK who are a bunch of wasters, I only live 10 mins from their head office and they are not even willing to look at the car or issue, I have found evidence from their correspondence that the report from the dealer was not detailed either, this was found by some answers that passed back to me I.E have you di not dsay it had the same issue in manual mode, When the dealer tested the car I was sat by the so called technician so I ensured he drove it in all modes including manual, He even admitted the fault to my and the salesmans face then senior persons said the car dealers usual ''Its a characteristic of the car''. the issue requires more people to complain to dealers re lag especially when pulling away, in the S4 and S5 case I now believe but am not certain that it is a gearbox issue. Also see https://www.autocar.co.uk/car-news/new-cars/audi-s4-and-s5-sales-halted-new-engine-software-tested