Question about 2004 Audi A4

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I have Audi A4 2004 v6, when im starting to drive e the car and changing the gear from P to R or D the car moves a little ans shakes, however it is not happening in the morning when the engine water meter is showing cold, during the day when it is warm it is shaking. I thought it may be the transmission, but when I put on D1 Tektronix and the transmission is not changing it stays on first gear it steal dose it, what is is?

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