Hello,

I have a 2016 a3 2.0T AWD and my DSG has become very clunky. At low speeds or high speeds, up shifts and down shifts, almost through every gear it bangs gears. You can really feel it like shifting poorly on a manual trans. It can be felt and heard as well with loud clunks/bangs. The transmission hangs a lot between down shifts as well. Some times going from 3rd to 2nd it takes like 2 or 3 seconds to engage. Its been doing this for about a year and a half now. I had the fluid and filter changed about 20k km ago using Liqui moly, including front/rear diff and Haldex. Along with basic setting and adaptation, it made no difference. Recently now at idle at a light with my foot on the brake, I can feel the whole car shaking sometimes. Which stops when I put it in neutral.

Has anyone experienced this? Could it be worn clutches, Mechatronics, or maybe the Mechatronics connector has corrosion or bad ground?
Is there any data logging I can do to rule out one or the other?

I do get faults, but they only come up after the car is driven. If I start the car and scan it will be clear. Once I turn the car off they clear again until the next drive. So far after a year and a half I never lost a gear or went into limp mode. Nothing has ever come up on dash.
I will post them below.

Thank you

This is the DQ250-6A MQB
Hardware version H53
Software 4902

Codes
Stuck in Gear 1 P072C00 Intermittent
Stuck in Gear 2 P072D00 Intermittent
Stuck in Gear 3 P072E00 Intermittent
Stuck in Gear 4 P072F00 Intermittent
Stuck in Gear 5 P073A00 Intermittent
Stuck in Gear 6 P073B00 Intermittent
Stuck in Reverse P072B00 Intermittent
Valve 3 in partial transmission 1 Electrical error P174A00 Intermittent
Valve 3 in partial transmission 2 Electrical error P174E00 Intermittent
Engine speed Inp.Circ Range/Performance P072600 Intermittent
Pressure Contr.Solenoid C Stuck On P079700 Intermittent
Cooling oil valve Electrical error P179D00 Intermittent