I'm having issues with my A5 not shifting properly from 1st gear.

It seems to be when the vehicle is cold. It will rev all the way up to 6k RPM and just never shift. I can now tell when it isn't going to shift and back off the acceleration and wait for it to finally shift. This morning it failed to shift and I stopped, turned off and started back up and drove off and it had no issues accelerating at all.

Sometimes when I back off the acceleration completely, and it will VERY HARD JERK when it finally does catch the gear.

The dealer drove it and said 'it drives like all other a5's I driven' and they 'shift harsher until fluids are warmed'. Of course it didn't have the issue at that time. Well harsher is different then NEVER shifting at all. Since it won't throw a code, they basically say this is the way the 'sports' car drives. (The dealer is 30 miles away so it's always warm too).

I refuse to accept that as an answer. What happens when I pull in to traffic and can't accelerate because it won't shift and get rear ended.

I can't recall exactly when it started. I've had the vehicle since 7.29.2014 and currently 16k miles.

 

That is not acceptable from the Stealer...er...Dealer. There is NO reason it should not shift correctly "until the fluids are warmed". This is dangerous like you say. MAKE the Dealer fix it. 16K miles on a car might as well be 16 these days. There is no excuse for it.