...for the first 60 seconds or so. It is kind of rough/choppy above 2K RPMs, after the first min it is fine. Letting it sit for a few minutes does not make a difference.

I am going into my Indy shop this week with a Bank 2 Camshaft Position Sensor code ($250 incl labor) but I've had the code for a few weeks, the problem just stared a few days ago.

Are they related? Thanks.

'01 A6 2.7TQ, 53K miles

 

Mine is tempermental after startup as well. A shop here said that's common, BMW's do it too.

 

Same with mine

 

Same with mine ...