2017 A6 Transmission Shudder - Need advice from Abu Dhabi owners

So my 2017 A6 has developed this weird shudder when accelerating from a stop, especially when the engine is warm. It's not a violent jerk or anything, but it feels like the gearbox is hesitating or slipping just for a split second before engaging properly. I've already changed the transmission fluid and filter thinking it might be a simple fix, but no luck. I'm honestly dreading taking it to the dealership because I know they'll quote me a fortune just for diagnostics. I've been looking around and a few people have mentioned a specialist that does Audi Transmission Repair Musaffah Industrial area, which is doable for me since I'm in Abu Dhabi. I'm just worried about ending up at a place that doesn't really know these ZF gearboxes and ends up making things worse. Has anyone in the forum had a similar issue with their A6 or Q7? What was the root cause? I'm hoping it's just a mechatronic issue or a solenoid rather than a full rebuild. Also, if you have any recommendations for a trustworthy garage in the Mussafah area that actually knows what they're doing with Audi DSG or tiptronic transmissions, I'd really appreciate the advice. I've got a long drive coming up next month and I don't want to risk getting stranded.