A bit of Info that may help someone later.
I recently purchased a 2003 2.5 TDI V6 Multitronic with a reconditioned gearbox, this was done by an gearbox specialist (not Audi). After driving a fantasic 500 miles home i started to drive it round my town only to have it try and kill me every time i pulled away, along with a large clunk from the transmission. Fearing the worst i took it to Audi who sudgested replace the oil in the gearbox (cheapest thing first) , i then got the VW master tech at my dads Seat dealership to re-check, his view was that the Autobox had been bench filled then fitted rather than by using the appropriate computer and audi tools. He could not fix it as seat did not use this engine and gearbox.
I have now just got it back from Audi and it is so much better, it is smotth to pull away and no bangs when it does, i can now trust it at junctions and roundabouts.
So if you get similar issues, it may be a trip to audi for the best car,e but it is well worth it!