I’ve got a 2016 Audi A4 with the S tronic and lately it’s been jerking when shifting from reverse to drive, plus sometimes it hesitates before engaging first gear. The dealer wants to replace the whole mechatronic unit for a crazy price, but I’ve been reading that sometimes just a fluid change or a software update can fix it. I found https://www.royalprinceautocare.com/service/audi-transmission-repair/ and it looks like they specialize in these gearboxes, but I’m nervous because I’ve heard horror stories about shops making things worse. Has anyone here actually had their mechatronic repaired rather than replaced, and did it last? Also curious if anyone has tried a transmission adaptation reset through VCDS before going the expensive route. Just trying not to spend half the car’s value on a fix that might be simpler than they’re letting on.