2009 S4 Jerking
 

I have a 2009 S4 that has a turbo charger.
When I put it into drive and also when I come to a stop, my car jerks forward. It feels like I'm in a car with someone who doesn't know how to drive a stick, does that make sense?
It does it for a few days, then it stops for a few days. . . its been doing this on and off for a couple of months.
I took it to a VW shop and they can not find anything wrong and of course it wasn't doing it when they had it. I'm about 200 miles away from an Audi dealer.
Any suggestions of what is wrong and where I should take it? A transmission person? Get to the Audi dealer? Help!