I have 2010 B8 S4 and the tranny started misbehaving at around 50K miles. All of the symptoms noted above and definitely not just a normal DSG lurch. It got so bad I had to be really careful with nose-in parking not to slam the front of the car into walls. It got to be intolerable driving in heavy traffic. The dealer did a $300 reprogramming that more or less fixed the problem but only after another 2K miles of driving. The dealer also said that the tranny's tiny brain has trouble "adapting" to different driving styles so my wife and I stopped swapping cars for our commutes. Now at 75K the symptoms are creeping back so I have traded for a B9 that will arrive in July. Got a good trade-in appraisal so I'm putting as few miles as possible on the B8 until the new car arrives. Can't wait for the ZF - never imagined I would feel that way!
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