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What is an Audi transmission and why does it cost so much to fix?

I have been driving an Audi A4 for about four years now and honestly it has been a great car until recently when a warning light came on and the gear changes started feeling jerky. I took it to a local garage and the guy started throwing around words like multitronic and S tronic and mechatronic unit and I just nodded along pretending I understood. Then he gave me a quote that made my eyes water. So I went home and started reading and honestly I am still confused. I came across a page that explains https://auditransmissionrepair.ae/what-is-audi-transmission/ and it helped a bit but I still have questions. Like what is the actual difference between the types of transmissions Audi uses? Are some more reliable than others or are they all expensive to repair once something goes wrong? Mine is a 2016 model if that matters. The jerking is not constant, it happens mostly when I slow down and then accelerate again, and sometimes when I am crawling in traffic it feels like the car cannot decide which gear it wants. Is that a sign of something serious or could it just be old fluid that needs changing? I have read mixed things online, some people say a fluid change fixes it, others say once you have symptoms the damage is already done and you are looking at a full rebuild. I am really hoping it is the cheaper option because I cannot afford a massive bill right now. Also, is it true that only the dealer can service these properly, or are there independent shops that actually know what they are doing? I would rather not pay dealer prices if I can avoid it but I also do not want someone experimenting on my car. If anyone has been through something similar with their Audi, I would love to hear what the problem turned out to be and what it cost you. Thanks for any help.

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