Hello. No, several Audi garages told me the tiptronic gearbox has sealed for life automatic transmission fluid, and the service book states this too. If you have a DSG gearbox however, it needs changing every 40,000 miles. I've just had another look at your thread, and if the car is a 53 plate FSi then it will be tiptronic, not DSG. Mine is still a bit jerky at times but have got used to it most of the time. If yours is really bad then get an Audi technician to go out on a short test drive and get their take on it.
Hey, Just wondered if you ever changed the oil in your gearbox because of the jerkyness in the end (You replied to a thread of mine last year). My wife has been driving the car and i forgot about it till i drove it the other day. I spoke to Audi and they said the oil could not be changed....i am confused!! Thanks, Andrew