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Firm shifts are better for an automatic than easy shifts. Less slipping of the clutch packs. But if it just started might need to change fluid and filter.
My tuned A6 shift hard under heavy acceleration and no problems at 153,000 miles. Shifts so hard it will break loose at 70 going into 2nd at full throttle.
Glad this question came up. I also have an 08 non Z51 Auto with 27K that shifts hard into second and has some hesitation between upper shifts from time to time. Car has not been abused. I was wondering if after 7 years the fluid was no longer completely effective. I have also wondered how common this condition may be and hope to read any additional feed-back.
I have an 08 auto that had problems with second gear. This occurred at about 45,000 miles. First they tried replacing some seals. That didn't work so they did a complete rebuild. Still doesn't feel correct but is better. Now have 78,000 miles. Dealer said the way it shifts now is normal. Seams to slip some before shifting at times. Most other automatics I have driven were much better than this car.