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Right around 34,000 miles, my A8 started to shudder.
However, this was caused by an incident three months prior when a piece of road debris broke the return line from the auxiliary transmission cooler (Y4Q) and the trans ran mostly dry for about a day. The clutch packs for Reverse, 1st, 2nd, 3rd, 4th, and 5th eventually succumbed to the damage and caused the shudder. Everything was fixed under warranty and I've since put on 1,500 trouble-free miles.
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