2002 s4 tip40k miles.no codes.cold start , shift to drive , pull off, auto shift from 1st to 2nd is late (higher than normal rpm) ,will shift if gas pedal is lifted happens 1st couple of stops then fine all day. if you put trans in tip right after starting and manual shift 1-2 it shifts fine . any techs seen this before?

 

Never seen a late shift before, usually people complain about early shifting.
Its probably normal if no codes are thrown, it may just be trying to heat up the trans faster fighting the cold weather, im not sure. If its not shifting really late, like lets say 4-5k then there isn't much a tech can do for you.

 

your tranny could have been recoded by the previous owner.