Hell I have a 2001 Audi a4 quattro with 2.8 liter and my car started to skip only on Acceleration. My check engine light came on and when I really get on the gas it starts to flash. I checked the codes and there were 8 of them. P0300 random misfire P0303 Cylinder 3 misfire p0305 cylinder 5 misfire and the other 5 were for oxygen sensors. Now I look at coils and cylinder 3 and 5 are on same Coil. Does that mean the coil is shot or is it something else like a vacuum leak that's causing the misfire. Also u have an exhause leak either before the cat or after not sure haven't look yet. Could this cause the o2 sensors fault. Anyone with insight I would greatly appreciate it. I need help. Thanks

Change the spark plugs if it hasn't been done recently. That's one of the cheapest things it could be. You could try switching spark plug wires with another cylinder and see if the misfire moves to another cylinder. You have to switch the whole spark plug wire, not just one end. When I had a similar problem it turned out that the end of the spark plug wire that goes onto the coil had broken. It was good enough to run but it had some hesitation.

02 sensors will cause misfires if they are bad. Make sure you get good o2's. Hesitation could be from a big vacuum leak or bad coil packs or mis-gapped spark plugs or bad spark plugs.