Had problems so I decided to do a fluid and Filter.

Pre-Service Behavior:

Usually can't get kickdown..sometimes when cold
Shifting is a pounding slam
R to D when warm it stalls
Doesn't want to upshift always...high RPM

Post Service Behavior:

Shifting is now smooth and at the correct shift points
Still rarely able to get kickdown
Still stalls when going between R to D, but only after you have done a WOT at least once.
No VAG Codes for the Trans, but do have 2 ABS wheel sensor short codes!!!
Throttle Position Sensor is fine

Any ideas?

Kickdown switch may need adjusting or replacing.
Take a look at this link.<ul><li><a href="http://www.kris-hansen.com/Audi/icv.htm">Cleaning ICV</a></li></ul>