Your problem sounds similar to my problem in the UK with my A4. Your car is a little different and it sounds as if you just have the tiptronic whereas mine has the multitronic (and tiptronic feature). But your description of the problem sounds identical.
Audi are now about to take over the investigation from my UK dealer.........I am beginning to think that this may be a design problem..............reading some other complaints I note that the multiplate clutch has been known to cause vibrations and roughness
Regards
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