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My Audi hesitates between gears and jerks at low speed, what could be wrong?

For about three weeks now my 2016 Audi A4 has been doing something strange, and I keep hoping it will go away on its own. When I pull away from a traffic light in the morning, the car hesitates for a second and then gives a small jerk, like someone tapped it from behind. Around 30 or 40 km per hour, going from second to third, I feel a clunk, and last Thursday on the highway the revs jumped up for a moment before the gear caught. The car has about 118,000 km, and I do mostly city driving with a long trip to Dubai on weekends. My brother says it is probably old gearbox fluid and I should just change it and stop worrying. My neighbor says it is a software problem and a reset at a workshop will sort it out in an hour. A friend at work told me never to ignore shifting trouble on a car with this kind of gearbox, because a small fault can turn into a very big bill if you keep driving. Another colleague said a worn part or a sensor can cause the same jerking, so guessing is the expensive way to do it. I read a page on last night to understand the usual causes, and it explained how fluid, sensors, software and worn internal parts can each cause shifting problems, which made me realise I cannot guess which one mine is. Since then I have been looking for Expert fixes for Audi gear shifting problems in Abu Dhabi, because I want someone to test the car properly before talking about parts. My questions are easy. Is it safe to keep driving to work while it does this, or should I stop using the car? Does a computer scan show the real problem, or only part of it? Did anyone here fix it with only a fluid change or an update, or did it need more? And how long did your car stay at the workshop, and was the final price close to the first quote? Please share what happened with yours. Thanks for reading.