Ah, I missed the fact it is automatic, which does not have the dual mass flywheel. My own automatic A3 suffered what I describe as clutch snatching when starting from rest. Audi would not even admit the problem existed, claiming the take off to be normal when they tested it, and could only suggest a new gearbox, an expense I was not prepared to even consider.
My own internet research indicated the fault lies in the Mechatronic unit which controls the gear changing and which would have to be overhauled or renewed at great expense, so I tolerated the fault until I got rid of the car some years later. The general suspicion is that it is a design or manufacturing fault by Audi in early DSGs, hence their reluctance admit the problem's existence.
Sorry to be the bearer of bad news, but your options are limited. The best I can suggest is you consult a gearbox specialist who might know how to deal with the Mechatronic and only charge a small fortune, rather than the large fortune that Audi will want.