I am new to my 2001 A4 2.8 automatic. Many times when I start from a complete stop, there is momentary dead spot on acceleration, and then the car grabs and jerks forward. It does not appear to me a sticking linkage. It almost appears that the car starts in 2nd gear, hesitates for a minute while it drops down to first gear, and then resumes acceleration.

Does anyone know what I am talking about?

 

Before you start to accelerate move the TIP to the right
and check the gear indicator.

 

Did this and it starts in 1
No problem with dead spots or surging when I shipt in manually.
I also notice when the shift is set for automatic, '2' is the starting gear. Would it be starting in 2 and then dropping down to 1 causing the lag?