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Audi states that transmission does not require service. ZF says their transmission should be serviced at 60,000-miles. The dealer is hesitant to do it so I found an indie who would do a ZF-specific transmission service. Service was just performed at 86K-miles. Car performs flawlessly at 250-mile since service, transmission even seems to shift better! Price was much better than hesitant dealer and indie followed ZF service procedure. Do it sooner rather than later!