I have a 2012 A5 TDI that i bought around 4 years ago and I beleive it has a multitronic gearbox. Ever since I purchased the car it has had the same small issue -when i start the engine in the morning and select drive, the gearbox does not seem to engage. When I try to pull away the car starts to rev and suddenly it engages quite brutally, I have even stalled the engine as a result.
I asked Audi to look at this under warranty and they assured me it was normal, but I did not really agree with that. Can anybody help or shed any light on the issue?
Once the car has been driven for a while it is almost unnoticeable and the car actually creeps whilst on idle as you would expect, the car is out of warranty now so it is down to me i guess

Thank you