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The first thing I would check is the trasmission fluid level. I don't recall if the V6 A6 includes a dipstick or not. Low fluid can make an automatic transmission do strange things.
The car comes with a 3yr/36k bumper to bumper warranty and a 5yr/100k powertrain warranty standard. If your car is still within the drivetrain warranty then it might be time to contact a dealer to have them look at it. It might not cost you anything to get fixed.
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