audi a6 2.4l jerks when accerlerating fast from stop then drives perfectly after
 

my audi a6 2003 2.4l multitronic if I try to take off quickly it jerks and makes a sound as though something has slipped and banged on to something then after it goes past 30km/h it drives perfectly without any problems, if I take off slowly it doesn't do that, my problem is all these years it never did this, and its got a slight vibration on reverse now. the gears are going in perfectly that's PRND.