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Were you actively experiencing the shudder?
If so did you previously take the car there for the dealership to diagnose themselves?
If no to the first, and you just hit a certain mileage and showed up with a service bulletin and a word of mouth history of other A8s having problems, replacing the fluid way early without an obvious issue should not have been done under warranty by my understanding of the process. Like any other component, you can replace it as early and often as you want, but if it's working properly and you're doing it for preventive purposes, that's on you.
If no to the second, that would at least explain their hesitation - you may have diagnosed the problem on your own, even correctly, but they're the ones who have to get GM to approve the warranty work which they've only got your opinion on the matter to base their warranty claim payment request on, instead of through their own practices. And I'm sure there are plenty of people out there trying to pull a fast one on GM with bogus warranty claims for dealerships to be wary.
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