Rough shift from Reverse back to Drive after highway
 

I've got an used 2002 Audi A6 Quattro 3.0L Tiptronic that shifts rough after highway driving from R to D (with brake applied) while parking.

After changing the transmission fluid filter and 2/3 of the fluid; it overall shifts smoother however the rough shift to D still persists when engine is been driven for anywhere between 30 to 60 minutes on the highway. At the same time it shows signs of hesitation compares to when the transmission is cooler. The fluid is at the right level and VAG-COM shows no code.

Is this normal for the 5 speed ZF transmission? Any thoughts?

Thanks in advanced.

Edit: From R to D; not P to D.

Is this normal? No. But what it means is hard to say. If it keeps driving normally otherwise, don't worry about it. You may consider changing transmission oil again down the road, or else keep driving like that.

Ok, I will try to find time to change the fluid again.
The next time I get to it I would like to drain from the radiator side as well.

Thanks for your help!

That's crazy. If you've chnaged the fluid with the correct stuff and changed the filter, there is no need to repeat the process. This sounds like an incorrect fluid level. Who set the level and how was it done? Correct temp? All gears shifted prior to setting?

I did the drain/refill myself with transmission pan leveled as much as I could (and probably was the most difficult part of the job).

The ATF was at a constant overflow while temperature in VAG-COM went from 10C to 40C. It went really fast between 35C to 45C and by the time I tighten the fill plug and went back into the car it was at 50C already.

Yes I shifted to all gears P, N, D (and S), N, R (big mess), N, P; multiple times before it reached 40C.

The filter and magnet had debris but I believe it's normal wear & tear.

I changed the filter & fluid in an attempt to fix the hard shift issue and at the same time wanted to make sure the level is right as I noticed tiny little leak at the fill plug area of the transmission.

The hard shift is most noticeable when oil temperature is high around 90C mark and the first D to R and back to D. If I do it again from D to R and back to D it shifts smoothly.

Should I double check the level again? Thanks for your help!

Sounds like you did it right. I suppose you could recheck level in case something changed in normal use, but I doubt you'll find it low. Weird.

I've searched the forum before I asked and I read somewhere a bad transmission mount could cause rough **** to Drive. Although my hard shift is not as bad as described in the other thread (my clunk is just slightly above normal, I think) is there an easy way to check the mount by myself?

This is the thread that I am referring to:
>> https://www.audiworld.com/forums/sho....php?t=2813525

Thanks again!

If it's operating temperature-dependent, it is not your mount.

That's a good point. I'll keep searching, thank you!

Well, you could quit fooling around and take it to ZF transmission shop and get a diagnosis.