Hi Fella....
Might be wrong or well off the mark, but i've recently bought an Audi, A4 Avant, TFSi quattro 217bhp model and, some of the things you mention, did occur with mine. I did ask on the forums, Pedal travel was high on the clutch, however, I digress.....
I was getting, some revs not coming down quick and some slight judder, when stationary, didn't add it at the time because, being new to the site, people might have thought, what an idiot (And still may after this comment.... lol), anyway, it worked out to be the "
clutch pedal switch" for the cruise control, was not working properly and causing the car to idle oddly and I was getting that judder even after a full service and cambelt change, all original Audi parts.
I can't explain, how or why this item would cause similar issues (I'm not mechanically sound at all), but it was changed 3 weeks ago and still running nicely!
Was a £12 purchase of Audi and this, for me, has solved the issues and i get none of the idling issues or judder anymore.
I thought I'd throw that out there!!
P.S. if you don't have Cruise control, then totally ignore this!!!