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Is my Audi Q5's S Tronic gearbox operating properly?

I recently purchased an ex-demo 2012 Audi Q5 with 2-litre diesel engine and S Tronic gearbox from a main dealer. I'm finding the gear changes are very noticeable at low speeds, and that the car feels unresponsive to the throttle when pulling away from stationary, then will surge slightly as the revs pick up. Overall, the drive quality is not as smooth as I would have expected. I was loaned a brand new 2-litre automatic Audi A6 while the Q5 was being checked, and that was beautifully smooth. The dealer assures me that the car drives normally for an S Tronic and that there are no software upgrades applicable, but I would appreciate your thoughts.

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The A6 will have been Multitronic, not S Tronic, but hesitancy from stop is a characteristic of VAG automatics. The ECU restricts power if it detects that the brake pedal is being pressed, and there is often a delay between releasing the brakes and this message getting through to the ECU. Also, some automatic four-wheel drive systems detect a disparity between tyre circumferences as slippage, for example when one tyre has been replaced after a puncture. That ‘confuses’ the system and leads to hesitation, jerks and wear.
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