I own a 2003 a6 4.2 and recently (this past weekend) I noticed that when trying to accel from a dead stop the rpm goes all the way to 3 or 4 and I feel a jerk in the car before the car goes above 20mph. accelleration after the jerk is fine but its the same thing after every dead stop and very slow roll. Does anyone know what could be the cause of this, or a way to diagnois without going to the dealership?

My Warranty (through an off brand company) expires in two weeks and need to figure out if the warranty will cover it

THANKS

My ESP and ABS lights are on now too and they started the same time this did