Arent you supposed to put it in P if you are stopped long enough. When my mate had lessons not too long ago thats what he was told.
Errr, no. That's for parking! Means you go through R to get to D and the driver behind p****s him/herself when your reverse lights come on.
Actually, I think Audi has been smart enough to have a slight delay before the reverse lights come on so that you don't have that issue when going from D to P. Same thing when switching between different light modes.