I purchased a used 2010 s4 dsg from the dealer here with 104k within first 3 days of driving it called the dealer to have the same issue looked at. They did a reset of the dsg module. Didnt fix it. Brought it back in a week later. They have told me they need to replace the transmission. Thank god I bought the warranty. Its going in on May 4 to have tranny replaced while I am away on holidays. I would suggest if under warranty in any way be persistent with the dealer