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I noticed the A6 has (2) "+" buttons on the steering wheel, which probably means that you push one (whichever is more convenient) of those when you are ready to upshift.
Manual Paddle Shift
While in the SPORT MODE (S) position, the paddles
located on the steering wheel, can be used to manually
up-shift or down-shift the transmission.
While in the SPORT MODE (S) mode, push the paddle
above the steering wheel spokes to up-shift to the next
gear, or pull on the paddle behind the steering wheel
spokes to down-shift to the next gear.
Thanks Sven, that certainly makes sense. When I looked through the windshield, it just didn't look like it was meant to do it that way, but now I know.