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By "private" do you mean independent/non-dealer?So could be done cheaper private
If you are going to have to pay for this yourself, do NOT use an Audi dealer. They mostly use the "suck-it-and-see" approach rather than diagnose the true problem, and you may end up paying for parts that didn't need replacing. There are independent gearbox specialists about who will do a proper repair job and quite likely significantly cheaper than an Audi dealer.