Been suffering with this problem for a few months now and decided to take the a cheap and obvious route - changing the gear box oil. It's made a BIG differance - shifts are now much smoother. The old oil was shot (car has done 147K) and can't believe Audi don't ever recomend changing the oil.
Even better is the fact that the Audi oe oil was half the price of the castrol etc.
Even better is the fact that the Audi oe oil was half the price of the castrol etc.