Check this one out, called Audi dealer to see how much it would cost to change fluid and filter in my A6 Tiptronic. Here's the answer, it does not need to be change and if you have any problems with the Tranny changing the fluid will just make it worse.

 

feckin stealership...

what kind of car do u have? cuz i kno if its fairly old, then changing the fluid will make your shifts way smoother...

oh yea, are u talking about auto or 5spd?

 

Automatic

 

Thats the official company line from both audi and zf(manufacturer of the transmission). Personally i would recommend a drain and fill every 2 or 3 years. Unfortunalty to get the level correct you need a scan tool.