Pure recommendation and even from audi every 60000km, oilchange, better if dynamic as all old oil is getting out with this process, "lifetime oil" - just a joke:)
Plus new soft and adaption, price is probably high but cheeper then repair 10 times.

You can try adaption first with cable to see if something getting better if not oilchange asap.

In my small country dynamic oilchange with new soft and adaption with geniuine oil is around 350 euro. Im talking about 8speed multitronic there is no filter which can be changed as for this you need to open all gearbox(info from our specialists).