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Unless your shade tree mechanic is an Audi expert, go to the dealer who has all the books and diagrams that tell the tech exactly where to look. The other guy may want to replace something just to troubleshoot and the factory tech should know exactly what to replace or which plug is loose.
Fist thing to do is change the transmission fluid and filter. Audi says the transmissions have lifetime fluid, but that's bull - change it first and see if that helps. If not, have the car scanned by a shop and have the chassis codes looked into. If there's a true electrical control problem, there should be at least one code stored (which may not trip the check-engine light).
You have a transmission fluid pump for the reverse gear and a 2nd one for all forward gears. Something is wrong with the pump. Your transmission problem could be the result of neglect if you haven't been flushing your fluid at least every 40,000 miles. Flushing the transmission now may fix the problem, it may make it worse, or it might not make any change at all. The first step is to find out that your transmission fluid level is correct by checking the dipstick with engine at operating temperature while idling in Park. DO NOT OVERFILL. NOTE: your fluid doesn't get thin when it gets old, it gets THICK and dark due to contamination. The darker it is, the longer it's been siting there.