The cvt is a weird transmission. Audi isn't the only one that uses it. But it does have some nuances of jerking and hesitation, especially at lower speeds and stop and go.
Very smooth on the highway once you're up to speed. There's no torque convertor on a cvt transmission.
You might want to check with the shop to make sure there's no open recalls or other issues with your car.
But it sounds like some normal quirks of driving a cvt car under specific circumstances.
2015 Lava 3.0 Q5.
In the past...2014 Prestige Q5, 2013 Prestige A6, 2011 Prestige A4 Avant, 2008 4.2 A6 sline, 2006 4.2 A6