My previous A4 (also had s-tronic) would occasionally have the lag when setting off, you'd press the accelerator a little, it would be reluctant, then push a little more, nothing, until finally it shot off like a rocket. I haven't noticed this at all on the A5 only had it a couple of months...
Mine popped up with it too, dealer says it's related to adaptive cruise control and the stop/start functionality can sometimes prevent the car from restarting. When I said I don't have ACC they advised book it in anyway, rather than waiting for next service.
Hey it gets a complimentary car...
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