You don't say how many miles are on your car. I have an 02 1.8 TQ with a tip, and around 60k miles I noticed that upshifts between 2 and 3 were becoming harsh. It did not happen all the time, only when outside temps were above 70 F and usually in stop-and-go traffic.
I drained the ATF fluid, changed the filter, cleaned the magnets, then filled up with new fluid and haven't had a harsh shift in the last 40k miles.
Although Audi claims the units are "sealed for life" and require no service, that is BS. I don't know if a fluid and filter change will cure your problem, but it is where I would start. Blauparts sells a kit that comes with everything including a hand pump and tube so you can get the new oil in. It is not hard to change, but you need VAG/Com or some other way to determine when the internal temp is 60C--you put in several quarts then start the car and put the selector in every gear for several seconds and continue to fill until the oil flows out of the fill hole at 60F.
Since the torque converter holds several quarts of fluid that will not drain when you remove the drain plug, you may want to change the fluid again in a week if the initial change fixes most of your problems but the shifting is still not perfect or I would do it anyway if your car has 100k on it.
Best of luck.