Transmission disengages with turn/acceleration on a down slope
 

Hi all
I have a 2002 Audi A6(C5) Avant Quattro.

I have noticed that when I pull out of a driveway (going forward) turning right... the auto transmission will disengage.
I will have to put it into neutral, wait a second, then back into drive... or just come off the gas completely, wait a second, then the transmission will re-engage.

Sometimes it happens with a rapid deceleration in a straight line. It never happens with a left turn.

Any ideas what this could be??

Thanks in advance.

Nick