In 2018 I had my A8 replaced with 19,000 miles. The problem was when shifting into drive in the mornings after all night parked the Transmission jerked back and forth several times until she settled into gear.Car was to the dealer several times.Reprogramming, relearning lasted a couple times only for approx. 4,000 miles. Last solution was a new transmission. Now 2,500 miles on the new one same problem only more stronger jerkings. Well here we go back to the dealer. I hope this time they have a better fix for it.