Disconnect both battery cables from the battery and touch them together for about 10 seconds. hen go drive it and see if it changes. Sounds like maybe your TCU is stock. The MTM TCU chip is a MUST for these cars. Not only will you get better shifts and drivability, you will prolong the life of your transmission (especially if you upgrade the TC too). Might cost a couple bucks, but will go long and far in helping you enjoy your RS6 experience....otherwise you will be in for a new transmission soon, especially if your ECU is flashed.

As I have said before... you REALLY have to love Audi's and love THIS car, to put up with some of its shortcomings...and if you can't wrench yourself, you will spend a decent amount paying someone else to...