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This is a manual transmission? If so the clutch probably needs to be replaced. When you say "VIOLENTLY" what is going on, what is the road speed, what are the RPMs at? The more specific information the better. And this problem ONLY occurs between gear changes, right? The other times, everything is normal?
Known issue to occur occasionally on VW/Audi. What is occurring is that the alternator is not spinning out fast enough to start charging, so the light is on. Once you rev the engine, the alternator starts to charge and remains charging till its shut off and restarted. It can be related to too low of an idle (not adjustable, unless you have a dirty throttle plate or air leak), the alternator itself (aftermarket or a bad rebuild) or an incorrect alternator pulley installed (too large).
HI,AT WHAT SPEED DID THIS HAPPEN,IF AT IDLE OR VERY LOW SPEED,HAVE A NEW BELT FITTED IF IT RUNS NORMALLY YOU ARE LUCKY,IF IT RUN ROUGH WITH BAD MISFIRE OR NOT STARTING AT ALL THE VALVES ARE BENT,PLEASE LET ME KNOW,ANDY.
All you need to do is get the throttle motor/body re-adapted, this can be done by audi, sometimes if you were to drive the vehicle 30 miles it will re-adapt itself but as its not idling, this can be difficult