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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?
Check this site for any Audi codes. This is a problem with the air that it injected into the exhaust system to help burn any uncombusted fuel. Check the air pump located in front of the pass front wheel on the bottom of the engine. It is pretty easy to find. The air pump has a suction hose that goes to the air filter housing so that it has filtered (clean) air, follow the hose