Yes. AMSoil is clearly the best gear oil. A good way to avoid morning stiffies is to leave it in 2nd
Obviously facing the right direction from overnight, start the car and procede in 2nd gear slowly as far as you can go, even repeating the stunt for the 1st stop sign or red light. After driving short distance, the trans is like butter. It's not just the problem of getting into gear, but the bitchy 1->2 shift.
It's nice to have the trans work well for convenience, but imo, also it the very best operating practice to keep from having wear problems.
'10 Q5 3.2 and '13 allroad Prestige