DSG vs. DRIVE modes
 

I am a new Audi owner and am getting familiar with my new/used 2006 a3 3.2
in drive mode the transmission seems to move from 1-6 gears pretty quickly upon acceleration and it's downshift seems to do the same with the car staying in 6 gear in the 30mph range and then a quick 5-4-3-2-1 till its at a dead stop. RPMs staying on the lower side and I am unsure if this is normal for fuel efficiency in "drive" mode. In DSG I try to keep it between 2-3 RPMs with 3 being the highest before shifting. This seems to keep the car at optimal performance power but I am sure is not as good with fuel.

As stated, first Audi so I am just being cautious and keeping an eye on things. Any thoughts on this matter would help.

thanks