Audi A5 1.8T 1st gear lag and hesitation

[yazankinany]

Hi all,

I don't know if this is normal or not, but I’m suffering from this lag which does not happen always but most of the times, it happens on an intermittent basis (car in "D"), when I come to a rolling stop or a full stop. After the stop, I either take my foot off the brake and let the car begin to roll, or take my foot off the brake and gently depress the gas pedal. 

In both cases, instead of the car beginning to move forward, it seems to hesitate for a second or slightly more than a second. During that time, it seems to build a few hundred revs. Then all of a sudden the car pops into gear and jumps forward with a slight kick, from that point it drives normally until another full stop. 

Note: this subject was posted before by other users experiencing the same issue but without any clear answers considering that I have recently changed the following in my car ( engine mounts, spark plugs, engine oil, and turbo boost valve. 

Current OBD fault codes: 
P003B (Turbocharger boost control B position, exceeded learning limit.
P0041 (oxygen sensor signals swapped bank 1 sensor 2/ bank 2 sensor 2.

I would really appreciate any suggestion on how to terminate or reduce this issue. 

Thanks