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.